Feedforward and Feedback Dynamic trot Gait control for a Quadruped walking Vehicle


To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive attitude control using sensory information (feedback control) is indispensable. In this paper, we initially propose a new trajectory planning for the stable trot gait named 3D… (More)
DOI: 10.1109/ROBOT.2001.933105

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