In this thesis is investigated an adaptive gait for a quadruped walking robot by which a quadruped walking robot can walk against external disturbances. An adaptive gait is needed for a quadruped walking robot to walk against external disturbances from various external environmental factors. This adaptive gait mechanism makes it possible for a quadruped walking robot to change its gait ad accomodate external disturbances. Under the assumption that external disturbances can be converted to and external force acting on the body of a quadruped walking robot, we propose a method of an adaptive gait against the external force.
More specifically, we propose an effective mass center based on the zero moment point for the measurement of the stability margin of a quadruped walking robot under unknown external force. And for a solution of an adaptive gait against external disturbances, a method of altitude control and reflexive direction control is suggested. An algorithmic search method for an optimal stride of the quadruped walking robot that walks from any position to home position is also proposed. By the method, the gait stability margin of a quadruped walking robot is optimized in changing its direction at any instance for and after the reflexive direction control. To verify the efficiency of the proposed approach, some simulation results are provided.
