Walking control of a four-legged machine

This paper describes a novel strategy for controlling the walking motion of a four-legged machine. The basic idea is three-point ground contact when the machine is at rest. Four-legged machines in general are structured differently than bipedal machines and have greater freedom of motion. Here, we applied walking motion with whole body rotation. The walking pattern was generated and simulated on a computer and the results were used to design and build an actual four-legged machine, which walked as simulated.