Abstract
Time optimal control method for quadruped walking robots is developed and installed into a practical robot system. Swinging leg is modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, in legged robot systems, supporting legs support their body weight, and the reaction forces from its ground must be inside of their friction corn. Moreover, the ZMP(zero moment point) of the robot is constrained for stable walk. Therefore, time optimal control inputs must be designed considering these constraints. SONY ERS-7 is used as a quadruped walking robot and a fundamental experiment is done. From the experimental results, the effectiveness of the developed control algorithm is verified.
