A Consideration on a Dynamic Control Method for Quadruped Walking Robots | Zendy

Junji FURUSHO | Zendy; Akihito SANO | Zendy; Yosuke Okajima | Zendy

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A Consideration on a Dynamic Control Method for Quadruped Walking Robots

Author(s) -

Junji FURUSHO,

Akihito SANO,

Yosuke Okajima

Publication year - 1992

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1992.p0526

Subject(s) - touchdown , robot , preferred walking speed , computer science , control theory (sociology) , simulation , center of gravity , stability (learning theory) , control (management) , physical medicine and rehabilitation , artificial intelligence , medicine , management , archaeology , machine learning , economics , history

There are many kinds of control methods for quadruped walking robots. In this paper, we deal with a walking control method in which the robot system can utilize the gravity effect very skillfully and the energy can thus be saved. Using computer simulation, we studied the walking control by this method from some aspects, such as the mean walking speed, the variation of the walking speed, and the stability. It is shown that the step width and the bending angle of the knee joints at the touchdown are important factors for walking controls.

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