Walking Pattern Control of the Quasi- Passive Four-Legged Robot by Adding a Tail Motion Oscillator

-Verification of the Optimization Method by the Velocity State Feedback-

Abstract

Recently, the autonomous robot is desired in spread versatile area to support the human society, However, the location is assumed as an activity area likely to present the ground with stairs and uneven gait. These robots have complex mechanisms and energy consumption is much and weight of these robot are limited to control smoothly. In this paper we discuss the cost performance with tale locomotion to assist to walk and running pattern less energy consumption, especially a lot of energy to the realization of a long-term operation in the everyday