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....

In this paper, the system design and analysis of a quadruped robot, Rush, are presented. The quadruped robot was fabricated to study autonomous and efficient running on flat and rough terrain. It is a compact, kneed, four-legged machine with only one actuator per compliant leg. A novel control strategy for the quadruped robot has been proposed in consideration of several engineering limitations...

The problem of gait planning for the quadruped search robot is described as an uncertainty discrete system. According to the basic gait elements of the quadruped search robot, the periodic gait of the robot is analyzed on the basis of gait timing diagram. The non-fragile control theory is proposed for gait planning control of quadruped search robot. A non-fragile reliable adaptive controller is...

We investigated the dynamics of quadrupedal locomotion by constructing a simple quadruped model that consists of a body mechanical model and an oscillator network model. The quadruped model has front and rear bodies connected by a waist joint with a torsional spring and damper system and four limbs controlled by command signals from the oscillator network model. The simulation results reveal th...

Central Pattern Generators are used in several kinds of robot locomotion, from swimming and flying, to bipeds, quadrupeds and hexapods. It is thought that this approach can yield better results in dynamical and natural environments. In this work we expand a previous quadruped locomotion controller and propose a method to couple the step cycle phase onto the locomotor CPG of a quadruped robot, c...

In an adult man the mean femoral anteversion angle measures approximately 15 degrees, for which the reasons have never been fully elucidated. An assortment of simian and quadruped mammalian femora was therefore examined and the anteversion angles measured. A simple static mathematical model was then produced to explain the forces acting on the neck of the femur in the quadruped and in man. Femo...

An adaptive-resonance theory (ART)-based fuzzy controller is presented for the adaptive navigation of a quadruped robot in cluttered environments, by incorporating the capability of ART in stable category recognition into fuzzy-logic control for selecting the adequate rule base. The environment category and the navigation mechanism are first described for the quadruped robot. The ART-based fuzz...

Compared with the serial mechanism, the parallel mechanism has many advantages. Using the parallel mechanism as the basic leg mechanism of a walking robot, not only the payload-weight ratio can be improved, but also the robot walking stability and security performance can be enhanced. By combining the kinematics features of 3-UPU parallel mechanism with the structural features of the quadruped ...

This paper presents the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators. In the design, biomimetic ideas are employed to obtain the agility of motions and sustainability of a heavy load. The design of the robot legs is inspired by the leg configuration of insects, two joints (hip and knee) of the leg enable two basic motions, lift...

Purpose – Legged vehicles offer several advantages over wheeled vehicles, particularly on broken terrain, but are presently too slow to be considered for many high-speed tasks. This paper presents an effective 3D controller for a high-speed quadruped trot. Design/methodology/approach – To successfully regulate forward velocity and heading, secondary motions such as body pitch and roll must be s...