Abstract
Walking vehicle has potential capability to be developed into off-road vehicle with high mobility and adaptivity by using the coordination control of its multi-degrees of freedom. There have been several discussions on the gait control of the walking vehicle. However the overall discussion of the gait control system and discussion on the subsystem in relation to all has not been executed so far.
The paper thus try to discuss this problem by setting the quadruped walking vehicle, which the authors have been developing. As the direct objective of the study. First of all the premises for discussion are established. The hierarchical structure of the total control system consisting of three level. i.e. level A, B, C, are then clarified. The control algorithm of each level especially on level B, C are elaborated. As to level B, the gait control in xy coordinates, that in z coordinates, and trajectory control of the legs are discussed. As to level C the control algorithm of the reflex motion regulation are discussed. Finally these discussions are verified by the walking experiments of the constructed walking vehicle model TITAN III. The joystick control of omnidirectional motion., or adaptive locomotion over irregular steps are successfully demonstrated.
