Feedforward and feedback dynamic trot gait control for quadruped walking vehicle

Ryo Kurazume, Kan Yoneda, Shigeo Hirose

Research output: Contribution to journalArticlepeer-review

42 Citations (Scopus)

Abstract

To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive control using sensory information (feedback control) is indispensable. In this paper, we propose a new body trajectory, the 3D sway compensation trajectory, for a stable trot gait; we show that this trajectory has a lower energy consumption than the conventional sway trajectory that we have proposed. Then, for the adaptive attitude control method during the 2-leg supporting phase, we consider four methods, that is, a) rotation of body along the diagonal line between supporting feet, b) translation of body along the perpendicular line between supporting feet, c) vertical swing motion of recovering legs, and d) horizontal swing motion of recovering legs; we then describe how we verify the stabilization efficiency of each method through computer simulation, stabilization experimentation, and experimenting in walking on rough terrain using the quadruped walking robot, TITAN-VIII.

Original languageEnglish
Pages (from-to)157-172
Number of pages16
JournalAutonomous Robots
Volume12
Issue number2
DOIs
Publication statusPublished - Mar 1 2002
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence

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