Centroid-based analysis of quadruped-robot walking balance

Multi-legged robots are very useful to do tasks in rough environment. A challenging task in their applications is to manage its walking balance. To analyze such a walking balance, we consider a simple model of quadruped robotic walking and try to identify the centroid of foot polygons formed in every step. Also, we propose a performance index to estimate the walking balance. Simulation studies show that an indispensable waddling motion of the quadruped walking can be estimated by the robot's centroid trajectory and the proposed balance index. The walking balance of the robot depends on the walking pattern employed. Finally, we discuss on a strategy to maintain the best walking balance and to facilitate an excessive dynamic walking motion. A useful walking style for the quadruped robot is also addressed in the bio-mimetic aspect.