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Realization of dynamic walking and running of a cat type quadruped robot using variable constraint control

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4 Author(s)
Takao, S. ; Tokyo Inst. of Technol., Japan ; Gu, Z. ; Ikeda, T. ; Mita, T.

In order to create a three-dimensional running robot, we study a control method called variable constraint control, which can realize various kinds of gaits. In this research, we have developed a quadruped robot, which simulates dynamic walking and running motions of a cheetah. Next, we have realized a motion pattern for a quadruped robot, which is expressed as differential equations of characteristic values of the robot. Experimental results show that a quadruped robot is produced which has a bounce gaits.

Published in:

SICE 2003 Annual Conference  (Volume:3 )

Date of Conference:

4-6 Aug. 2003