Abstract
To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive control using sensory information (feedback control) is indispensable. In this paper, we propose a new body trajectory, the 3D sway compensation trajectory, for a stable trot gait; we show that this trajectory has a lower energy consumption than the conventional sway trajectory that we have proposed. Then, for the adaptive attitude control method during the 2-leg supporting phase, we consider four methods, that is, a) rotation of body along the diagonal line between supporting feet, b) translation of body along the perpendicular line between supporting feet, c) vertical swing motion of recovering legs, and d) horizontal swing motion of recovering legs; we then describe how we verify the stabilization efficiency of each method through computer simulation, stabilization experimentation, and experimenting in walking on rough terrain using the quadruped walking robot, TITAN-VIII.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Arikawa, K. and Hirose, S. 1995. Study of walking robot for 3 dimensional terrain. In Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems '95, pp. 703–708.
Arikawa, K. and Hirose, S. 1996. Development of quadruped walking robot TITAN-VIII. In Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems '96, pp. 208–214.
Furusho, J., Sano, A., Sakaguchi, M., and Honda, K. 1994. Bounce gait control of a quadruped robot. In Proc. of the Second International Conference on Motion and Vibration Control, vol. 1, pp. 198–203.
Furusho, J., Sano, A., Sakaguchi, M., and Koizumi, E. 1995. Realization of bounce gait in a quadruped robot with articlar-joint-type legs. In Proc. Int. Conf. on Robotics and Automation, pp. 697–702.
Gabrielli, G. and von Karman, I. 1950. What price speed? Mechanical Engineering, 72(10):775–781.
Hiraki, M., Emura, T., Senta, Y., and Okada, S. 1996. Trotting gait of a quadruped robot based on reaction wheel model (in Japanese). In Proc. of 14th Conference of the Robotics Society of Japan, pp. 967–968.
Hirose, S. 1984. Astudy of design and control of a quadruped walking vehicle. In Int. J. Robotics Research, 3(2):113–133.
Hirose, S., Nose, M., Kikuchi, H., and Umetani, Y. 1984. Adaptive gait control of a quadruped walking vehicle. Robotics Research (1st Int. Symp.), Cambridge, MA: The MIT Press, pp. 253–277.
Hirose, S. and Yoneda, K. 1993. Toward the development of practical quadrupe walking vehicles. J. of Robotics and Mechatronics, 5(6):498–504.
Hirose, S., Yoneda, K., Furuya, R., and Takagi, T. 1989. Dynamic and static fusion gait of a quadruped walking vehicle. In Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems '89, pp. 199–204.
Kimura, H., Shimoyama, I., and Miura, H. 1990. Dynamics in the dynamicwalk of a quadruped robot. RSJ. Advanced Robotics, 4(3): 283–301.
Klein, C.A. and Chung, T.S. 1987. Force interaction and allocation for the legs of a walking vehcle. Int. J. Robotics and Automation, RA-3(6):546–555.
Klein, C.A. and Kittivatcharapong, S. 1990. Optimul force distribution for the legs of a walking machine with friction cone constraints. Int. J. Robotics and Automation, 6(1):73–85.
Lee, T. and Shih, C. 1988. A study of the gait control of a quadruped walking vehicle. IEEE J. of Robotics and Automation, 2(2):61–69.
Marhefka, D.W. and Orin, D.E. 1997. Gait planning for energy efficiency in walking machines. In Proc. Int. Conf. on Robotics and Automation, pp. 474–480.
Raibert, M.H. 1986. Legged Robots That Balance, MIT Press: Cambridge, MA.
Sano, A. and Furusho, J. 1989. Dynamically stable quadruped locomotion (a pace gait in the COLT-3). In Proc. of the Int. Symp. on Industrial Robots, pp. 253–260.
Yoneda, K. and Hirose, S. 1995. Dynamic and static fusion gait of a quadruped walking vehicle on a winding path. Advanced Robotics, 125–136.
Yoneda, K., Iiyama, H., and Hirose, S. 1986. Intermittent trot gait of a quadruped walking machine dynamic stability control of an omni-directional walk. In Proc. Int. Conf. on Robotics and Automation, pp. 3002–3007.
Yoneda, K., Iiyama, H., and Hirose, S. 1994. Sky-hook suspention control of a quadruped walking vehicle. In Proc. Int. Conf. on Robotics and Automation, pp. 999–1004.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Kurazume, R., Yoneda, K. & Hirose, S. Feedforward and Feedback Dynamic Trot Gait Control for Quadruped Walking Vehicle. Autonomous Robots 12, 157–172 (2002). https://doi.org/10.1023/A:1014045326702
Issue Date:
DOI: https://doi.org/10.1023/A:1014045326702