Online control algorithm of a quadruped walking robot withquasi-static model

摘要

The authors have been using a body-tilting method to make aquadruped walking robot more stable. If the tilting is quantified as thedistance that the mass center should move, it is possible to control thetrajectory of the mass center with this tilting. In the paper, an onlinecontrol algorithm is proposed using the tilting method with aquasi-static model of the robot. Validation of the model isexperimentally examined and the output trajectory of the mass center forgiven force margin of the online control is investigated