CONTROL SYSTEM OF A QUADRUPED WALKING ROBOT

摘要

This paper presents a control system for a quadruped walking robot. The walking robot named RIMHO has been developed to obtain expertise in legged locomotion. A brief description of the robot and its model is shown. A description about the relationship between the machine level and the control station level is presented. The paper also shows experimental results of a new free locomotion gait for forward motion and turning. At present, the new real-time control method is used to operate the robot by a human operator using a virtual reality representation in the control station. In this way, a three dimensional graphic representation in real time is used to test the effectiveness of the locomotion.