Abstract
There are many kinds of control methods for quadruped walking robots. In this paper, we deal with a walking control method in which the robot system can utilize the gravity effect very skillfully and the energy for walking can be saved. Using computer simulation, we studied the walking controlled by this method from some aspects such as, the mean walking speed, the variation of walking speed, the stability. It is shown that the step width and the bending angle of the knee joints at the touchdown are important factors for the walking control.
