Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
If the legs of a quadruped robot have elasticity, it will be able to walk like an animal. In this paper, we design a control system of a quadruped robot with elastic legs to realize trot walking. We use a van der Pol equation as a walking pattern oscillator to generate a trot gait pattern of the robot. Simulations and experiments are performed to find the conditions for a stable trot walking and a trot gait pattern that maximizes the walking speed.
