Simple Walking Strategies for Hydraulically Driven Quadruped Robot over Uneven Terrain

摘要

Jinpoong is a quadruped walking robot developed by the Korea Institute of Industrial Technology. Jinpoong was developed for use in surveillance, reconnaissance, transportation, and guidance tasks in atypical environments such as those encountered after a disaster. To perform these tasks successfully, the robot must be able to walk stably over uneven terrain. The aim of this study was to develop a method for absorbing the impacts experienced by the robot while walking and a method for resisting external forces applied to the side (sagittal plane) of the robot so that it can walk stably. We demonstrate the efficacy of the methods developed through experiments.