Gait design and stable control for a symmetrical four-legged robot on irregular terrain

We Presents a method for designing free gaits for structural symmetrical four-legged robot capable of performing statically stable, omnidirectional walking on irregular terrain. Robotpsila s virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimums foothold for transfer leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gaitpsila s efficiency and systempsilas stability in adapting to an irregular terrain.