ENHANCED FMA LEGS FOR QUADRUPED WALKING

Stable Open Loop Walking in Quadruped Robots with Stick Legs

In our previous work we have shown that walking can be implemented on quadrupeds with stii legs and only one actuated degree of freedom in the hip, based on the concept of controlled momentum transfer. In this paper we show via simulations and experiments on two diierent quadruped robots that dynamically stable and robust walking can be achieved via an open loop controller which is active only ...

Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were implemented in a modular, feed-forward locomotion controller. The controller was tested on a small, quadruped robot with compliant, segmented leg...

Dynamic Compliant Quadruped Walking

This paper presents a new dynamic walking controllers for quadrupedal robots with compliant legs. The algorithm implements a "walking bound" gait, (running bound without ight phase), requires only one actuator per leg at the hip, and commands a constant hip velocity during stance. The algorithm has been implemented successfully on our Scout II quadruped robot and has yielded stable walking for ...

Study on Quadruped Walking Robot

Though development of a practical walking robot is not easy at all, walking robots have many practical advantages resulting from moving functions peculiar to this type of robots including excellent moving characteristics and working characteristics on uneven land. Paying special attention to the encouraging possibility of the walking robot, the authors have been continuing research and developm...

Visual Localisation of quadruped walking robots