Control of a quadruped walking robot based on biologically inspired approach

摘要

In this paper, a new biomimetic control method for a quadruped walking robot is proposed. The method is derived by the observation of the gravity load receptor and stimulus- reaction mechanism of quadrupeds' locomotion, and the study of the stances on walking and energy efficiency. Though the controller is simple, it provides a useful framework for controlling a quadruped walking robot. In particular, by introducing a new rhythmic pattern generator the heavy computational burden to be paid on solving kinematics is relieved. The effectiveness of the proposed method is validated via a dynamic simulation and experimental works in a quadruped walking robot, called AiDIN(Artiflcial Digitigrade for Natural Environment).