A Control Method of Four-Legged Robot Stable Walking with Diagonal Gait

Abstract

This paper proposes a kind of control method used to solve the stability problem of the trotted robot. Propose the concept of inside flip design four-footed robot and build a double inverted pendulum model. Establish dynamic equation to analyze the factors of affecting the motion stability. During walking, the center of gravity can maintain a proper vibration and have a maximum safety region of flip angle. Finally, use Adams to verify the control method.