Evaluation of a Reduced Order Model for Quadruped System and Proposition of a Walking Control Method Using Quasi-Angular-Momentum
Akihito Sano and Junji Furusho
Department of Mechanical and Control Engineering, The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo, 182 Japan
By using a stable quantity ‘Quasi-Angular-Momentum’ which represent a state of quadruped walking system, we evaluated the degree of approximation of reduced order model which we derived. We also proposed a control method in which the quasi-angular-momentum is kept constant.