IROS '90 F o o t T r a j e c t o r y f o r a Quadruped Walking Machine Y o s h i h i r o SAKAKIBARA, Kazutoshi KAN, Yuuji HOSODA, Makoto HATTORI and Masakatsu F U J I E Mechanical Engineering Research L a b o r a t o r y , H i t a c h i , L t d . 5 0 2 Kandatu. Tsuchiura, I b%raki 300,Japan A b s t r a c t

This paper deals with the design of foot trajectory for a quadruped walking machine.A quadruped walking machine requires both uneven terrain walking capability and high-speed flat surface walking capability.The static walking method was used for uneven terrain walking cases and the dynamic walking method was used for flat plane walking cases. In the case of dynamic walking the relative speed between the foot and the ground caused instability in the balance of the body. We designed foot trajectory based on two points of view.One uses the kinematics of foot motion and the other uses the relationship between joint motion and joint driving torque.This paper also discusses a method for reducing the impact forces upon initial contact with the floor by designing a periodic foot trajectory based on the wave motion of a cam. In this method, the vertical and horizontal motion of the foot trajectory were independently generated using cyclodic motion. We named this trajectory the composite cycloid foot trajectory. We further developed a modified cycloid foot trajectory by smoothing the joint angular acceleration.

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