A Consideration on a Dynamic Control Method for Quadruped Walking Robots
Junji Furusho, Akihito Sano and Yosuke Okajima*
University of Electro-Conununications, 1-5-1, Chofugaoka, Chofu, Tokyo 182, Japan
* Gifu University, 1-1, Yanagido, Gifu, Japan
There are many kinds of control methods for quadruped walking robots. In this paper, we deal with a walking control method in which the robot system can utilize the gravity effect very skillfully and the energy can thus be saved. Using computer simulation, we studied the walking control by this method from some aspects, such as the mean walking speed, the variation of the walking speed, and the stability. It is shown that the step width and the bending angle of the knee joints at the touchdown are important factors for walking controls.