Abstract
In this study, a control method of pace gait which is often observed in middle or high-speed walking of animals is discussed. The motion in pace gait can be divided into the motion in the sagittal plane (plane vertical to the floor including the walking direction) and the motion in the lateral plane (plane vertical to the walking direction). As for the lateral motion control, a dead beat control is adopted for the purpose of adjusting the walking cycle. As for the sagittal motion control, a trajectory of the leg is designed by considering the control algorithm of the lateral plane. The effectiveness of the proposed control method was confirmed by means of computer simulation and also in walking experiments using the quadruped walking robot. Our robot COLT-3 achieved the pace walking at speed of 0.25 m/s.
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© 1993 Springer-Verlag London Limited
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Sano, A., Furusho, J. (1993). Realization of dynamic quadruped locomotion in pace gait by controlling walking cycle. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036160
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DOI: https://doi.org/10.1007/BFb0036160
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Online ISBN: 978-3-540-39323-8
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