Abstract
Dynamic walking is often required in a quadruped robot for the purpose of quick locomotion. It is generally known that the walking pattern of animals is changed to the trot or the pace in middle speed locomotion. Trot walking was recently studied by several groups because of its stability. In the trot, diagonal legs form pairs. While one pair of legs provides support, the other pair of legs swings forward in preparation for the next step. In the trot of the quadruped robot with point-support feet, a rotation around a diagonal line formed by the supporting leg can't be controlled directly by using torques at the articular joints. In this paper, the 3D behavior in trot walking is analyzed from the viewpoint of foot force, duty factor and the roll angle of the body. The effects of the stance and the center of gravity of the body are also examined experimentally using our quadruped robot 'COLT-2.'
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