Abstract
This paper reports and discusses simulation results on the stabilization of a quadruped robot by its neck swing motion. The simulation model was constructed in ODE base on the parameters of the quadruped robot built by us. The ratios of the all link lengths of both the model and the real robot are similar to those of horses. The model has eleven joints in total. First, we altered the foot trajectory in swing phase and the foot posture in the stance phase to prevent the robot from falling over. Then, we investigated the effects of the center position of foot trajectory, the duty factor, and the digging depth in stance phase on the pitch angle of the robot body through simulation. Using the most suitable parameters based on the simulation results, we investigated influences of the neck swing motion on the pitch and the roll angles of the robot body, and found the suitable swing angles.
