Presents a gait control algorithm for teleoperation of a quadrupedwalking robot using gait convergence. A leg trajectory of the walkingrobot is generated in real-time according to the 3 DOF planar movingvelocity command. Initially, the aperiodic gait is applied to follow theunpredictable command, since the periodic gait is known to be optimaland it requires an initial foot position. However, given an arbitraryinitial foot position, the proposed algorithm leads the support patternof the legs to converge from the aperiodic gait to a wave-crab gait or awave-spinning gait. Further it avoids a deadlock after the directionalchange of the velocity command. The proposed algorithm has been appliedto the walking robot, CENTAUR of KIST that has heavy legs and a largemoving area of the gravity center. To compensate the moving gravitycenter, a sway motion is proposed to transfer the leg of which thekinematic margin is almost zero and the leg trajectory for the swaymotion is overlapped with the operator command
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