Gait Planning of a Quadruped Walking Robot Based on The Operational Space Control

摘要

In this research, a comprehensive study is performed onrnthe design of a quadruped walking robot. In advance, thernwalking posture and skeletal configuration of the vertebraternare analyzed to understand quadrupedal locomotion, and thernroles of limbs during walking are investigated. In addition,rnwith the study of the stances on walking and energy efficiency,rndesign criteria and control method for a quadrupedrnwalking robot are derived. The proposed controller based onrnthe ground reaction force control provides a useful frameworkrnfor controlling a quadruped walking robot. Finally, the proposedrnmethod is validated via dynamic simulations.