Relationship between Walking Parameters And ZMP of Four-legged Robot

Abstract

The goal of this study is to development a four-legged robot that can walk in various gaits. In this paper, we calculate the ZMPs of a four-legged robot in simulation, which is constructed based on our robot to evaluate its stability and investigate the relationship between the ZMPs and Walking Parameters. We compared two kinds of calculation methods using ground reaction forces and accelerations of COG of all links and found that the former is more suitable than the latter. Also, we found that the four-legged robot tended to tilt forward when the supporting legs changes. Further, we found that the walking period and the step length should be set at appropriate values