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Intermittent trot gait of a quadruped walking machine dynamic stability control of an omnidirectional walk

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3 Author(s)
Yoneda, K. ; Dept. of Mech.-Aerosp. Eng., Tokyo Inst. of Technol., Japan ; Iiyama, H. ; Hirose, S.

This paper discusses an algorithm to make a quadruped machine walk dynamically and omnidirectionally following a real-time command from an operator. To produce a smooth body motion at high speed locomotion, we introduced a new gait, named the “intermittent trot gait”, in which a four-leg-supporting phase and a two-diagonal-leg-supporting phase appear in orders. In this gait, the pitching and rolling motion of the body is suppressed to a lower level than that of the other gaits because the dynamic effects of the swinging legs almost cancel each other. To realize the intermittent trot gait, new algorithms to plan a landing point and body motion are discussed. A landing point is decided by considering an operator command and conversion to the standard leg formation. A body motion is planned to produce dynamic stability and to follow speed and direction commands. By using these algorithms, a mechanical vehicle TITAN VI can walk omnidirectionally, smoothly following a real-time operator command. The top speed is 1 m/sec on flat terrain and 125 mm/sec on 105 mm up and down over rough terrain

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996