The purpose of this study is to realize horse-like trot gait by a quadruped robot. In this report we proposed the model of horse-type quadruped robot which has a motor-spring system at each fetlock joint. Next we designed and made a quadruped robot based on the proposed model. Then we proposed the control-system and the joint trajectories refering horse, and then we carried out simulation and experiments. Finally a steady and periodric trot was realized by the robot.
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