This thesis presents a gait control scheme for teleoperation of a quadruped walking robot. In teleoperation of a walking robot, an operator gives a real-time generated velocity command to a walking robot instead of the preplanned moving trajectory. When the direction of the velocity command is changed, the periodic gait cannot be used because this requires an initial foot position.
Therefore the aperiodic gait control scheme has been proposed that can converge to a periodic gait support pattern. For the purpose of that control scheme, we derived the condition of support pattern for the corresponding velocity command and the leg-lifting sequence of the periodic gait. That support pattern is called the proper support pattern that converges to the support pattern of a periodic gait. When the given support pattern satisfies the proper support pattern and the direction of the velocity command is constant, the support pattern converges to a support pattern of the periodic gait by the proposed control scheme. When the given support pattern does not satisfy the proper support pattern, we can predict the pre_deadlock and solve it and change the support pattern into the proper support pattern.
The proposed gait control scheme is applied to Centaur which is a quadruped walking robot developed by KIST. The proposed control scheme has been evaluated with the simulator that has quasi-dynamic characteristics of Centaur. Simulation results are given to demonstrate the efficiency of the proposed control scheme.