OPTIMAL TURNING GAIT OF A QUADRUPED WALKING ROBOT

The analysis of the gait mode is an important step for constructing a walking robot. In this study an optimal turning gait of a four-legged walking robot is proposed, which maximizes walking speed keeping walki ng stability larger than a certain required value. To obtain an optima l gait algorithm, for body trajectory of the robot, maximum walking sp eed, feasible gait modes and stability margin are analyzed for a quadr uped walking robot designed in this study. The proposed gait is suffic iently flexible, as to permit crab walking, turning walking and a pure rotational walking about a robot's geometric center. The validity of the proposed gait algorithm is confirmed by many simulations.