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A Study on Trot Walking for Quadruped Walking Robot  

Bae Cherl-O (목포해양대학교)
Ahn Byeong-Won (목포해양대학교)
Kim Hyun-Soo (목포해양대학교)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.8, no.7, 2004 , pp. 1418-1423 More about this Journal
Abstract
A legged robot is friendly to human because it is resemble to human. And the robot can obtain support points freely because it has high degree of freedom for several joint as compared with a wheeled robot. Also the robot can create the relative position at desired position between support position and robot. The joint of robot cu used as manipulator. On the contrary the mechanism of robot is complicated to have many joint and moving speed is lower than wheeled robot. Also the legged robot is needed a special control not to fall on the ground because the robot is easy to vibrate when it is moving. The 4 leg structure is the minimum leg numbers not to fall and to realize safety gait continuously. A trot gait is investigated through experiments using a quadruped walking robot named TITAN-VIII.
Keywords
Legged robot; wheeled robot; Quadruped walking robot; Trot gait;
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  • Reference
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