A Study of Trot Gait Control System of a Quadruped Robot Using IMU Sensor

摘要

This paper describes a stable trot gait control system for a quadruped robot that enables faster walking with stability. Compared to other gait types, it is possible to walk faster with relatively little energy expenditure, which means trot gait is suitable to control for the quadruped robot. However, trot gait does not prevent roll and pitch angle fluctuations, essentially, even when walking on flat terrain, because two legs temporarily support the robot body. Therefore, to suppress the effect of this fluctuation and stabilize the posture of the robot body, we proposed a trot gait control system using an IMU sensor and achieved faster walking without slipping. To confirm the validity of the proposed stable trot gait control system, we built a quadruped robot based on TurtleBot3 chassis and implement our system. To validate the system’s effectiveness, we carried out several experiments running on various types of terrain, including sloping terrain.