Abstract
This paper deals with a control method for an achieving walking not to follow the desired angle of the rotating links between support phases. As a trajectory following control for omni-directional walking of a six-legged robot, LQI control system to follow the target orbit of the position of the center of gravity and the yawing angle of the body which was designed in a world coordinate system was designed. By using 3D model of the six-legged robot, the effectiveness of the proposed control method was examined in the case that the reference orbit was semicircle of 0.5m radius and S-turns of 0.5m radius. As a result, the validity of the proposed control method was verified.
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