In this thesis, we design the controller of a quadruped walking robot and propose the dynamic gait in consideration of energy efficiency. The proposed dynamic gait is applied to the quadruped walking robot and experiments are performed for real robot.
We design to separate the power sources between motors drivers and logic units, Since the separation can minimize the motor noise effects on logic units, the control system can be stable in performance.
The experiments on the static gaits - wave gait, crawl gait and spinning gait - are carried out to verify the performance of the designed controller and We conclude that the designed controller is useful for a quadruped walking robot effectively.
We propose diagonal gait which modified the trot gait in consideration of energy efficiency. The proposed gait is composed of two steps. In one step, the robot walks in the trot gait. In the other step, the robot walks with making the center of gravity lie on the two legs supporting line. Realization of the diagonal intermittent trot gait is performed by open loop control and motion planning of the proposed gait. The proposed gait is proper to the quadruped walking robot used in our experiment.
