Abstract
Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. Support legs are modeled as five-link manipulators and swinging legs are modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, in legged robot systems, many physical constraints are imposed for achieving a stable walk. In addition, there is redundancy of torque to achieve the walk. Therefore, time optimal control inputs are designed considering these constraints and redundancy of torque. From the simulation, the effectiveness of the developed control algorithm is verified.
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