Mechanism and control of master-slave quadruped walking robot

Abstract

This paper describes the mechanism and walking control of a proposed master-slave quadruped walking robot. The real time recognition of environment and the decision of control signal to each actuator are very important for the control of walking robot on rough terrain. Their techniques are not perfect at the present. Thus, we proposed a master-slave quadruped walking robot using radio control devices, which can efficiently use the recognition and control functions of human. We have already performed experiments for straight walking using a prototype of the master-slave quadruped walking robot. This robot can walk forward and backward on even terrain, and can get over the low steps, In this paper, we propose a curve walking and a rotation method of the master-slave quadruped walking robot, and describe experiments for the curve walking and rotation of the robot. The experimental results show the validity of the proposed method.