An optimal turning gait for a quadruped walking robot

Abstract

A turning gait is proposed for a quadruped walking robot. The proposed scheme makes it possible to control the translation and orientation of the walking robot simultaneously. First, feasible leg sequences which guarantee positive longitudinal gait stability margin for each direction of movement are found. A method for finding the lifting time of each leg of a feasible leg sequence and selecting an optimal gait among feasible gaits is then suggested. The proposed gait can be applied to control the posture of walking robots and to generate an optimal gait for a desired movement of translation and rotation of the walking robot systematically.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>