Implementation of a Quadruped Robot Pronking/Bounding Gait Using a Multipart Controller

摘要

This paper presents a multipart pronking/bounding controller for a quadruped robot, as well as the corresponding experimental results. The controller achieves given apex height and forward velocity in a quadruped robot with only one actuator per leg. A quadruped is designed and built and described in some detail. Experimental results obtained using internal sensors and high-speed camera captions show that the implemented quadruped robot performs pronking gaits and achieves bounding gaits with the desired characteristics.