4 족 로봇의 안정적인 갤로핑을 위한 실시간 타원궤적 생성

For running, a legged robot is approximated into the spring loaded inverted pendulum and its CG(center of gravity) trajectory is obtained from ball on the rebound. However, its swinging and supporting leg motion are important to run stably. In previous works, the trajectories deviate from the workspace of legs and make the robots unstable. In this paper, we propose an elliptic trajectory generation method for legged robots to generate stable running motion trajectory. Elliptic trajectory enable robot to modify each angle and angular velocity of legs at touchdown and take-off according to the running speed. To check the performance and effectiveness, a series of galloping computer simulation with a 2-legged robot in the sagittal plane are performed. These simulation results show that the proposed generation method is effective for galloping locomotion.