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The heavy-load legged robot has strong load carrying capacity and can adaptto various unstructured terrains. But the large weight results in higherrequirements for motion stability and environmental perception ability. Inorder to utilize force sensing information to improve its motion performance,in this paper, we propose a finite state machine model for the swing leg in thestatic gait by imitating the movement of the elephant. Based on the presence orabsence of additional terrain information, different trajectory planningstrategies are provided for the swing leg to enhance the success rate ofstepping and save energy. The experimental results on a novel quadruped robotshow that our method has strong robustness and can enable heavy-load leggedrobots to pass through various complex terrains autonomously and smoothly.

Swing Leg Motion Strategy for Heavy-load Legged Robot Based on Force Sensing