抄録
The ultimate goal of this study is to reveal influences of the head shaking motion on the moving stability, and relationships between gait and energy consumption for walking, trotting, and galloping. We have been developing a four-legged robot that has similar link length ratios with a typical horse. To realize stable gait motions, we have to investigate the best sets of gait parameters. In this paper, we focus on the following two parameters: the step length and the depth from the horizontal line. We conducted an experiment using the robot in trot gait, in which the body roll angle was measured to evaluate the robot's stabilization. The robot was hanged by four springs during the experiment to prevent it from falling down. As a result, we found that the depth from the horizontal line should be as small as possible to reduce the amplitude of the roll angle variation.
