Toward Development of Practical Quadruped Walking Vehicle.

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...

A study of the gait control of a quadruped walking vehicle

Some of the fundamental problems of the gait control of a quadruped walking vehicle are addressed. It is shown that the product of the duty factor and the stride length is equal to the length of the boundary of the reachable area of the leg. Furthermore, the mathematical expression representing the relationship between the stability margin, the stride length and duty factor are also formulated....

Visual Localisation of quadruped walking robots

On Ballistic Walking Locomotion of a Quadruped

This paper investigates ballistic motions in walking quadrupeds on a horizontal plane. The study is carried out on a quadruped consisting of a body and four identical two-link legs. Each leg has a knee joint and is connected to the body by a haunch joint. Three types of quadruped gaits, bound, amble, and trot, are studied. None of these gaits complies with a flight phase, but they all involve s...