Walking gait generation and walking stability for the quadruped robot

4족 로봇의 보행 걸음새 생성 및 보행 안정성 판별

In general, it is known that walking stability of a quadruped is determined by its COG(Center of Gravity). In this paper, in order to know whether our virtual quadruped robot is applicable to the real quadruped robot, we simulated our virtual model using the data from the real robot‘s walking. We were able to evaluate the stride of quadruped based on direct and inverse kinematics and compared the stride of the simulation with real robot’s it. During the simulation we calculated the COG of the virtual model and evaluated the walking stability of real model.