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Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits. The controller design phase is carried out using simulation. This paper reports the simulation of steady walking at 0.6 m/s of both the forelegs only and the hind legs only (with a supporting structure at the back and at the front respectively),...
Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits (i.e. from low speed walking to fast running). A general legged locomotion controller must integrate both posture control and rhythmic motion control and have the ability to shift continuously from one control method to the other according...
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