보행로보트의 보행과 지면 반발력

Locomotion and ground reaction forces of a warking machine

This study presents a method to determine the ground reation forces of a quadruped walking machine on its foot ends caused by the body weight and the inertia forces from the commanded acceleration. The method shows the same result as the Pseudo-Inverse Method when the 4 feet stand on a plane. However method can be applied even when the 4 feet stand on a non-planar surface for which, no feasible solution can be obtained by the Pesudo-Inverse Method.