LOAD DISTRIBUTION AND BODY ANGLE MEASUREMENT IN STATIC WALKING OF A QUADRUPED WALKING ROBOT

摘要

A prototype quadruped walking robot has been developed to examine the possibility of application in agricultural works. The purpose of current study is to obtain some information on load distribution and inclination angle of vehicle body in three typical motion of forward, lateral and turning walk. The result showed that the current configuration of robot body required the severe translation of CG point which results in increasing of pitching angle of vehicle body.