Analysis on Regular Rotational Gait of a Quadruped Walking Robot

  • Kim, Whee-Kuk (Department of Control and Instrumenttation Engineering, Korea University) ;
  • Whang Cho (Department of Information and Control Kwangwoon University) ;
  • Yi, Byung-Ju (School of Electrical Engineering and Computer Science Hanyang University)
  • Published : 2002.06.01


In this paper, the regular rotational gaits of the quadruped crawling robot are studied. It is assumed that the proposed regular rotational gaits starts from one of six support patterns in a translational gaits and end up with one of six support patterns in a translational gaits. Noting that six support patterns in a regular translational gait belong to two different groups with respect to regular rotational gait, the static stability margin and the maximum rotational displacement during one rotational stride period for the two representative support patterns are investigated. It is expected that the proposed regular rotational gaits will enhance the omni-directional characteristics of the quadruped crawling robot.



  1. IEEE Journal of Robotics and Automation v.RA-2 no.2 A Study of the gait control of a quadruped walking vehicle T. T. Lee;C. L. Shih
  2. Proc. of IEEE R & A Conf. Dynamic modeling, stability and energy efficiency of a quadrupedal walking machine B. S. Lin;S. M. Song
  3. The International Journal of Robotics Research v.9 no.2 Sensor-based control of a ninelink biped J. Furusho;A. Sano
  4. Proc. of IEEE R&A conf. Realization of bounce gait in a quadruped robot with articular-joint-type legs J. Furusho;A. Sano;M. Sakaguchi;E. Koizumi
  5. Robotics Research 3 Running experiments with a planar biped J. Hodgins;J. Koechling;M. H. Raibert