Reflective walk based on lifted leg control and vision-cued swaying control

This paper presents a reflective walk based on lifted leg control and vision-cued swaying control [1] for a vision guided quadruped robot. The lifted leg control generates a reflective gait which consists of three steps: 1) select a leg to lift so as to increase the body stability, 2) shift (lift up, move, and down) one of other legs to enable the selected leg lifted, and 3) shift the selected leg. During these steps, vision-cued swaying control generates a swaying motion of the robot so that it can stabilize the visual target at the desired position in the image. Combining the reflective gait and the swaying, the robot attempts at tracking the visual target, and as a result a reflective walk emerges. The validity of the method is shown by a preliminary experiment, and future work is given.