We propose a cooperative transportation method by quadruped robotswith vibration in a 3-dimensional environment. In the case ofcooperative transportation by legged robots, we must solve two problems;(1) how to avoid exerting excessive internal force on an object and howto deal with sensed values, the position and orientation of the objectwith vibration because the body of the robot vibrates in walking; and(2) how to decide its velocity that depends on several parameters suchas step, walking cycle, and so on. Considering these problems, weconstruct the cooperation method of the transporting system withvibration. Our method consists of three aspects; firstly we decide howto suitably distribute the object's degree of freedom (DOF) to twoquadruped robots. Secondly how to decide the robot velocity isdescribed. Thirdly we create the vibration model aimed at the periodicgait of a quadruped robot by filtering the ingredient of the robotvibration from sensed values of the object deviation from its normalposition on the robot. The created model enables us to estimate thedeviation of object on the robot and the vibration parameters of theother robot. Moreover, we propose the step prevention motion ofquadruped robot where its velocity is close to zero. The effectivenessof the step prevention motion and gait based on the vibration model isverified by some experiments
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