Dynamics and Control of the Quadruped Robot : Dynamic Walk by use of the Redundancy of Actuators Caused by the Multiple Touching Legs

摘要

In this paper, the inverse dynamics of the quadruped robot is described which is the base of the trajectory planning and the costrol of the dynamic walk. The distinctive character of the solution described here is the use of the redundancy of actuators obtained by eliminating the constraint forces from the dynamic equations. In concrete terms, two subjects are described. The first is the realization of the control which is expected not to break the constraints. The second is the rotation around the yaw-axis without using yaw-actuators at supporting legs. Furthermore the experiments utilizing Collie-2 are described.