All-directional Walking of a Quadruped Robot based on Crawl and Rotation Gaits.

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  • クロール歩容と循環歩容に基づく４足ロボットの全方位歩行
  • クロール ホヨウ ト ジュンカン ホヨウ ニ モトヅク 4ソク ロボット ノ ゼンホウイ ホコウ

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In this paper, we propose a successive gait-transition method for a quadruped robot to realize all-directional static walking. The gait-transition is successively performed among the crawl gaits and the rotation gaits while the foots hold in common positions before and after gait-transition. The transition time of the gaits is reduced through carefully designing the foot position of the crawl gait and the rotation gait while limiting the foot in a rectangular reachable motion ranges. Experimental test was executed to show the validity and the limitation of the proposed gait-transition method.

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