Experimental study on optimal fusion of translation motion and attitude control for multi-legged robot with redundant joint

In this paper, a multi-legged prototype robot with redundant joint is conducted. To control any motion for the robot with redundant joint, the authors propose an optimal control system with fusing the attitude and the translation motion for multi-legged robot. The proposing optimal method can be adopted in case of number of control input variable being different from number of control output variable. Then to verify the proposing optimal method, the robot having two legs with 4 redundant DOF is treated and three case experiments of optimal fusion for attitude and translation are executed. Then obtained the result is evaluated.