For a quadruped robot, the crawl gait is commonly used on rough terrain environment where a pre-motion planing is required. However its walking speed is slower than other walking gaits and make it difficult to develop a practical legged robot. Among the various types of gaits, we consider that the trot gait is safety gait which can prevent complete falling by hitting its swinging leg on the ground. Therefore in this paper we propose a position specified sway compensation trajectory based on 3D sway compensation trajectory which can control footsteps and end position of the center of gravity to walk over rough terrain environment. The validity of the proposed algorithm is confirmed by using physics simulator V-REP with model of experimental quadruped robot TITAN-XIII. As a result, the robot model succeeded to walk over simple step, and random step and proved the feasibility of the proposed gait on a difficult terrain.
This study proposes a movement control system for a two-wheel inverted pendulum (IP) robot, which is a personal robot that interacts with people. Safety and stability are important parameters in designing a robot for personal use. To achieve this, model predictive control (MPC) may be a suitable control technique. The controller presented in this study ensures safety by imposing time-varying constraints with respect to velocity and stability by imposing time-invariant constraints with respect to the controller input and body-tilt angle. Finally, this study presents good validation results via the movement control simulation of the IP robot.