A quadruped walking vehicle has the potential both to walk, conserving the conditions of smoothness and static stability, and to run, where the ride will be bumpy but fast and dynamically stable. The authors have already proposed the concept of 'dynamic and static fusion gait control' and discussed a basic control scheme for the purpose of adaptive selection of these gaits during continuous walking. This paper extends the concept to walking at variable speeds along a winding path. The motion scheme is discussed on the basis of a generalized trot gait and incorporating stability control based on feedforward and feedback control; trajectory modification is based on the concept of zero moment point. The validity of the motion schemes was verified in walking experiments using the quadruped walking vehicles TITAN IV and TITAN VI.
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