Dynamic Control for Stabilization of the Four-Legged Walking Machine BISAM in Trot Motion

There are many types of locomotion like wheels, legs, crawlers, etc. Among these types, the legged locomotion is the most suitable system to negotiate rough surface, because it has a merit to select the ground contacting points of the foot freely. Concerning the legged systems, many studies about the four-legged walking machine, whose number of legs is minimum to realize statically stable walking, have been performed in the world.

[1]  Shigeo Hirose,et al.  Intermittent trot gait of a quadruped walking machine dynamic stability control of an omnidirectional walk , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[2]  Isao Shimoyama,et al.  Dynamics in the dynamic walk of a quadruped robot , 1989, Adv. Robotics.

[3]  Marc H. Raibert,et al.  Legged Robots That Balance , 1986, IEEE Expert.

[4]  Karsten Berns,et al.  Biologically inspired Construction and Control Architecture for a quadruped Walking Machine , 1998 .

[5]  M. Sakaguchi,et al.  Realization of bounce gait in a quadruped robot with articular-joint-type legs , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[6]  Hiroshi Kimura,et al.  Dynamic walking and running of the quadruped using neural oscillator , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).