Dynamic and static fusion gait of a quadruped walking vehicle on a winding path

The authors previously (1989) proposed the concept of dynamic and static fusion gait control and discussed a basic control scheme for the purpose of adaptive selection of these gaits during continuous walking. They extend the concept to walking at variable speeds along a winding path. The motion scheme is discussed on the basis of a generalized trot gait and incorporates stability control based on feedforward and feedback control; trajectory modification is based on the zero moment point concept. The validity of these discussions is verified by walking experiments with quadruped walking vehicles TITAN IV and TITAN VI; e.g., dynamic and static fusion gaits at velocities from zero to 400 mm/sec by TITAN IV, and walk with dynamic stability along a circular winding path at a velocity of 100 mm/sec by TITAN VI. At present, dynamic walk on rugged terrain is not possible, but it may be made possible by introducing feedback control as discussed