抄録
In this paper we discuss a dynamic walking algorithm of a quadruped robot, especially improvement of its speed and stability. Previously we proposed the longitudinal acceleration intermittent trot gait, but with this algorithm a robot could only walk with constant target velocity and at higher velocity the robot fell over because of an initial acceleration. In order to solve this problem, the way of gradually increasing velocity in four legs support phase is introduced. The maximum acceleration and deceleration is limited to avoid complete tumbling. Additionally a swing leg trajectory is generated by using Ferguson/ Coons Curve. Walking experiments were conducted with proposed walking algorithm with the experimental quadruped robot TITAN-XIII. As a result the robot walked at a speed of 1.36 m/s stably.
