Stable Walking of Qauadruped Robot by Impedance Control for Body Motion

Abstract

General gait design for a walking robot has an assumption that the weight of a leg is negligible compared to that of body. Under the assumption, only the gravity center of the body is taken into consideration in the gait design since the total gravity center of whole robot coincides always with the gravity center of the body only. Roughly speaking, however, motion of a weighty leg has serious influence on stable walking of a quadruped robot in practical sense. In this paper, an impedance control for body sway motion is proposed to compensate the influence of a weighty leg on the total gravity center of the robot, so that the walking stability is secured in accordance with the pre-designed gait with consideration of the gravity center of the body only.