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The design and control of a jointed-leg type of a quadrupedal robot for locomotion on irregular ground

Published online by Cambridge University Press:  01 July 1999

Yeh-Su Hong ,
Hyoung-Ki Lee ,
Soo-Yeong Yi  and
Chong-Won Lee
Yeh-Su Hong
Affiliation:
Advanced Robotics Research Center, Korea Institute of Science and Technology, Cheongryang P.O. Box 131, Seoul (Korea)
Hyoung-Ki Lee
Affiliation:
Advanced Robotics Research Center, Korea Institute of Science and Technology, Cheongryang P.O. Box 131, Seoul (Korea)
Soo-Yeong Yi
Affiliation:
Advanced Robotics Research Center, Korea Institute of Science and Technology, Cheongryang P.O. Box 131, Seoul (Korea)
Chong-Won Lee
Affiliation:
Advanced Robotics Research Center, Korea Institute of Science and Technology, Cheongryang P.O. Box 131, Seoul (Korea)
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Abstract

In this paper, a study of a quadrupedal walking robot capable of walking on the irregular ground is presented. The robot has specially-designed feet with toes making soft and safe landings on uneven surfaces. Using the toe angle and landing force sensors integrated within the feet, its gait control algorithm can adapt the foot trajectory to the ground profile, while the body weight is evenly distributed on the supporting legs. After the landing of a foot, the roll and pitch angles of the body are measured and controlled to keep the body attitude parallel to the plane of support. The contents of this study are the design concept and working principle of the foot, including the gait control algorithm for walk on the irregular ground. Experimental results are reported.

Keywords

Quadrupedal robotLocomotionIrregular groundGait control algorithm
Type
Research Article
Information
Robotica , Volume 17 , Issue 4 , July 1999 , pp. 383 - 389
Copyright
© 1999 Cambridge University Press

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