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An intuitive control method for the flying trot, which combines offlinetrajectory planning with real-time balance control, is presented. The motionfeatures of running animals in the vertical direction were analysed using thespring-load-inverted-pendulum (SLIP) model, and the foot trajectory of therobot was planned, so the robot could run similar to an animal capable ofvertical flight, according to the given height and speed of the trunk. Toimprove the robustness of running, a posture control method based on a footacceleration adjustment is proposed. A novel kinematic based CoM observationmethod and CoM regulation method is present to enhance the stability oflocomotion. To reduce the impact force when the robot interacts with theenvironment, the virtual model control method is used in the control of thefoot trajectory to achieve active compliance. By selecting the properparameters for the virtual model, the oscillation motion of the virtual modeland the planning motion of the support foot are synchronized to avoid the largedisturbance caused by the oscillation motion of the virtual model in relationto the robot motion. The simulation and experiment using the quadruped robotBilly are reported. In the experiment, the maximum speed of the robot couldreach 4.73 times the body length per second, which verified the feasibility ofthe control method.

Flying Trot Control Method for Quadruped Robot Based on Trajectory Planning