Motion control algorithm for a 4-legged walking robot over irregular terrain

다각 보행 로보트의 비평탄 지형에서의 걸음새 알고리즘

In this paper we describe a motion control algorithm for a 4-legged robot over slopped terrain and steps. The new concept of the mechanically constrained angle has been introduced and the algorithm has been developed based on the relationship between the gait stability margin and the slope angle. The result then has been extended to the case where the robot walks over steps.