Temporal gait control of a quadruped robot

Abstract The design and control of a four-legged robot for operation on vertical surfaces is described. The requirement that the robot trajectory be continually modifiable on-line in response to external sensor data is addressed with the development of a temporal gait control strategy. The ensuing gait automatically converges to various classical gaits for straight-line, turning and spinning maneuvres, and naturally accommodates transitions between these. Simulation results are presented to demonstrate the performance of this control strategy.

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