Abstract
The previous report shows a quadrupedal walking robot which has a limitation on its walking speed because of walking static balanced with three legs by movement of the center of gravity. This paper proposes a new walking method, that is, semi-dynamical walking with two-legs-support, such as horses. For a realization of this kind of walking, it is necessary that each ankle of the legs has a control mechanism on the roll angle, because they support the position in walking. In this paper, the walking pattern is studied through analyzing. the dynamic stability in walking, and developed walking control programs on a software servo control system which is broken up in order to control the micro-processors. The experiment for a quadrupedal walking robot shows that this kind of walking is 4 times faster than the previous kind of walking.
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