Abstract
The authors have developed the prototype of a track-changeable quadruped walking robot named "TITAN X". TITAN X can switch from legged form to tracked form according to the mobile environment. This paper describes gait for an upward step by combined legged and tracked motions. First, step classification is described for gait planning. Next, the authors discuss about COG trajectory, robot posture and the parameters such as stride and trackbelt velocity for gait planning using dynamics simulator. Then, the proposed gait is implemented into the prototype and the virtual impedance wall for trajectory tracking and LRF (laser range finder) for posture estimation are introduced. The authors have successfully demonstrated the climbing motion of TITAN X with a 420-millimeter-high step and successive steps.
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