A 3D galloping of a quadruped robot based on force tracking control

Abstract

This paper presents a 3D galloping algorithm to enable a quadruped robot to gallop at high speed by controlling the ground reaction force from the ground. The desired force is computed using the momentum equation. Simulations were performed based on the model of actual quadruped robot called HUNTER (Hanyang University TEtrapod Robot), which has three active joints and a passive spring-loaded joint at each leg. The performance and the effectiveness of the suggested method were analyzed in a series of simulations of galloping. The simulation results show that the proposed generation method is effective for galloping locomotion.