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A simplified forward gait control for a quadruped walking robot

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2 Author(s)
Pack, D.J. ; Robot Vision Lab., Purdue Univ., West Lafayette, IN, USA ; Kak, A.C.

Presents a simplified forward gait for a quadruped walking robot. The proposed gait is a straight line, periodic, monotonically forward (SLPMF) gait and can easily be used for adaptive gait control, requiring only simple modifications. The authors show that given a support pattern, meaning a polygon generated by connecting the feet positions that are in contact with the ground, only certain sequences of leg movements will generate the SLPMF gait. The authors also introduce a useful method to determine how to preserve stability of a quadruped robot during the motions called for by an SLPMF gait. The authors also discuss the leg design from a hardware standpoint; the design permits independent joint control

Published in:

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on  (Volume:2 )

Date of Conference:

12-16 Sep 1994

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