抄録
This paper presents a fundamental framework for motion generation, in order to explore quadruped dynamic locomotion. In this framework, we utilized an Inverse Kinematics solution which analytically process torso orientation, foot trajectories and center of mass trajectory. Center of mass trajectory is derived using ZMP criterion while foot trajectories are generated through polynomials. What is more, PID control with disturbance observer is used as the servo control. In order to validate the framework, trotting motion is simulated via OpenHRP3. As the result, dynamically equilibrated trotting cycles with sufficient joint tracking performance are obtained. In addition, torso orientation error was measured to be within 1.5 degrees.
