Online Feet Potential Fields for Quadruped Robots Navigation in Harsh Terrains

Quadruped robots have garnered significant attention in recent years due to their ability navigate through challenging terrains. Among the various environments, agriculture fields are particularly difficult for legged robots, given variability of soil types and conditions. To address this issue, study proposes a novel navigation strategy that utilizes ground reaction forces calculate online artificial potential fields, which then applied robot’s feet avoid low-traversability regions. The also incorporates net vector attractive field towards goal repulsive slippery regions, dynamically adjusts quadruped’s gait. A realistic simulation environment validates proposed framework with case studies on randomly generated comprehensive comparison baseline methods is conducted assess effectiveness approach.