Walk Control of a Quadruped Horse-riding Robot by Posture Adjustment

摘要

In order to make it easy to ride, a quadruped horse-riding robot with the features of lean figure and long legs is developed. However, it is easy to reverse because of these features. On the other hand, in order to secure a rider's safety, the horse-riding robot's walk stability is very important. Therefore, in order to improve its walk stability, a walk control method which performed center-of-gravity movement on real time by posture adjustment is required. This report explains a walk control method based on the posture adjustment which used fuzzy reasoning, and reports the basic walk experiment result for a mini horse robot.