Control of four-legged robot

This paper describes the control of a four-legged robot´s walking behavior. Multi-legged robots are well studied due to their high stability and off-road capability. However, if the ground situation changes, the robot´s walking behavior must change accordingly in order to maintain stability. Current studies typically use a small camera or LRF (laser range finder) for ground situation recognition. However, the camera complicates the processing of acquired data, and the LRF is very expensive. In this study, we propose a low-cost, simple method for ground situation recognition. We also present our four-legged robot whose walking behavior changes depending on the ground situation.