Dynamical approach to the diagonal gait synthesis: theory and experiments

The method of two-legged diagonal gait synthesis for the quadruped robot is introduced. The problem of dynamic postural equilibration taking into account the role of compliant feet is solved. The equilibrium conditions are split to the feet attachments points and the points within the feet-end area. In simulation example the slip avoidance condition is tested. Presented method has the meaning for motion synthesis taking into account the robot parameters and - for the design of the feet considering the dynamically stable gaits. The method was proved by using simulations and experiments.