A study on adaptive generation of motion pattern of a quadruped locomotion robot

The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a spontaneous locomotion controller and voluntary motion controller. In this article, capability of dynamic turning motion of the proposed control system is verified through numerical simulations and hardware experiments: In the slow speed turning, the robot has strong geometrical constraints. Whereas in the high speed turning, the robot has great influences of dynamic forces. These constraint conditions make the motion of the robot asymmetry in terms of duty ratio, stride and center of pressure. The proposed controller actively and adaptively controls redundant DOF to cancel the dynamic asymmetry and established stable turning motion at various locomotion speed and turning orientation.