Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain

<figure class="figure-group responsive"><div class="sub-figure" id="a"><object data="https://static-preview.hindawi.com/articles/jr/volume-2019/3153195/figures/3153195.fig.0010a.svgz" name="3153195.fig.0010a" type="image/svg+xml"></object><div class="fig-label">(a) Looking one step ahead (recursive depth=1)</div></div><div class="sub-figure" id="b"><object data="https://static-preview.hindawi.com/articles/jr/volume-2019/3153195/figures/3153195.fig.0010b.svgz" name="3153195.fig.0010b" type="image/svg+xml"></object><div class="fig-label">(b) Looking four steps ahead (recursive depth=4)</div></div></figure>

<p>Different searching results by looking one and four steps ahead, respectively.</p>

Journal of Robotics

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Figure 10

Figure 10: Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain 