Adaptive Gait for Quadruped Walking Robot Using Force Sensor Attached in Foot.

概要

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Walking robots have the potential to adapt to changes in walking conditions. However, it is necessary to sense these conditions and change the gait in order to realize this potential. In this paper, two kinds of gait generating schemes for a quadruped walking robot which can adapt to changes in the walking conditions are proposed. One is a gait which adapts to the position of the center of gravity (C.O.G) of the robot, and the other is a gait for inclined terrain. In the case of static walking, the position of the C.O.G affects the walking stability. The position of the C.O.G of the actual robot sometimes changes, and the gait must be changed for stable walking. The proposed gait adapting to the position of the C.O.G is able to change the leg transferring timing according to the position change of the C.O.G. The inclination of the terrain also affects the stability. The proposed adaptive gait for inclined terrain can change the leg transferring timing according to the inclination of the terrain. To perform these two adaptive gait schemes, only one-axis force sensors attached in each foot are used.
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