Phased Compliance Control with Virtual Force for Six-Legged Walking Robot

Decreasing impact force between the foot and the terrain when the foot lifting and landing, is one of the most important problems for the walking robot on the irregular terrain and the bumpy road, because it negatively affects the body stability and sometimes destroys robot mechanical parts. Therefore this paper a proposed phased compliance control using virtual compliance force for multi-legged walking robot, which can reduce the impact force when the robot walks. The effectiveness of the proposed method is verified by the computer simulation using a 3D-CAD dynamic model of a six-legged walking robot.