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Motion control of multi-legged machines
Naoya Okamoto,Yosuke Kurihara,Kajiro Watanabe 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes a control strategy for stable walking by a robot with six legs. While walking, the robot always has three legs in contact with the ground. Walking motion is controlled so that the center of gravity of the robot is within the triangle formed by the three contact points. It was confirmed that the proposed strategy enabled stable walking on a flat plane and on a plane with steps.