Title :
Control of a quadruped trot
Author :
Glower, J.S. ; Ozguner, U.
Author_Institution :
The Ohio State University, Columbus, Ohio
Abstract :
A simple control law is proposed to maintain the movement of a trotting quadruped. The assumption behind this control law is that one should be able to rely upon the quadruped´s momentum for stability. The control law should only serve to redirect or maintain the quadruped´s momentum. The result is a control law that works well so long as the quadruped is moving.
Keywords :
Acceleration; Azimuth; Earth; Equations; Gravity; Hip; Leg; Legged locomotion; Stability; Velocity control;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087404
