Implementation of omnidirectional crawl for a quadruped robot

As a reptile animal crawls in a cluttered environment, so a quadruped robot should be able to crawl on an irregular ground profile with its static sta bility by adopting the straight going and standstill-turning free gaits. Th e generalized and explicit formulations for the automatic generation of str aight-going gaits and various standstill-turning gaits are presented in thi s paper. The maximized stride for the straight-going gait and the maximum t urning angle for the turning gait of a quadruped robot named TITAN-VIII in a gait cycle are discussed by considering the robot's mechanism constraints and the irregularities of the ground profile. The control algorithm, inclu ding control of the joint positions of the robot, is described to implement the desired walking path of the quadruped robot. The effectiveness of the proposed method is demonstrated through experimental result.