The paper proposed a method based on the body-flip to achieve obstacles cross the robot obstacle-navigation . Papers on four feet robot tilting obstacle-navigation method on the motion planning, from which the symmetrical side established model kinematics equations, and use of MATLAB fpga simulation analysis. The modeling process devastates the robot structure according to the movement status simplified as large and planar linkage mechanism.
The simulation analysis obtains the robot barycenter of trajectory, each joint Angle change curve and obstacle-climbing capability and the relationship between the geometric parameters of the robot. The analysis results show that the method has a strong obstacle-climbing capability, the maximum height can reach robot obstacle-navigation leg length of all. Verify the feasibility of the obstacle-surmounting principle for four feet robot obstacle-navigation tilting the further research provides a basis.