4족 로봇의 보행안정성 해석

摘要

Walking robot is classified into biped, quadruped and hexaped, etc., according to the number of leg linked to the robot body. In this study a quadruped robot is developed and stability of the robot is analyzed. Using the WBO(Weight Balancing Oscillator) built in the body is proposed and the control method of it is studied. Walking is classified into static and dynamic walking according to the duty factor. In dynamic walking, one of the very important issues is stability that is influenced by the position of ZMP. The WBO is mounted on the body of the robot developed in this study. That is designed to linearly move from side to side when the robot walk dynamically. Robot body is without sacrifice of the walking speed by control the WBO. This means improvement of the stability.