Online control algorithm of a quadruped walking robot with quasi-static model

The authors have been using a body-tilting method to make a quadruped walking robot more stable. If the tilting is quantified as the distance that the mass center should move, it is possible to control the trajectory of the mass center with this tilting. In the paper, an online control algorithm is proposed using the tilting method with a quasi-static model of the robot. Validation of the model is experimentally examined and the output trajectory of the mass center for given force margin of the online control is investigated.