Abstract
This paper discusses an algorithm to make quadruped machine walk dynamically and omnidirectionally following a real-time command. To produce a smooth body motion in a high speed walk, we introduce a new gait named “Intermittent trot gait, ” in which four-leg-supporting phase and two-diagonal-leg-supporting phase appear in orders. In this gait, pitching and rolling motion of the body is able to be suppressed to smaller level than that of the other gaits such as pace, bounce, and expanded trot gait, which is an intermediate gait of the crawl and the trot. Because, dynamic effects of the swinging legs are almost canceled each other. To realize the “Intermittent trot gait, ” new algorithms to decide a landing point and to plan a motion of the body are discussed. A landing point is decided by considering an operator command and also a conversion to the standard leg formation. On the other hand, a motion of the body is planned to produce a dynamic stability, and to follow a speed and direction command. By using these algorithms, a mechanical vehicle TITAN VI could walk omnidirectionally, smoothly following a real-time operator command.
