Abstract
In this research, a comprehensive study is performed on the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller based on the ground reaction force control provides a useful framework for controlling a quadruped walking robot. Finally, the proposed method is validated via dynamic simulations.
| Original language | English |
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| Pages | 323-328 |
| Number of pages | 6 |
| State | Published - 2008 |
| Event | 39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of Duration: 15 Oct 2008 → 17 Oct 2008 |
Conference
| Conference | 39th International Symposium on Robotics, ISR 2008 |
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| Country/Territory | Korea, Republic of |
| City | Seoul |
| Period | 15/10/08 → 17/10/08 |
