Stable galloping in a quadruped robot using force tracking

A quadruped robot should adapt to the environment for successful running. Its body balance is important in stable running locomotion, and is determined by the forces applied at the feet during touchdown phase; therefore, it is proposed that the ground reaction forces are to be controlled for stable running with force control. Simulations were performed based on the model of actual quadruped robot, HUNTER(Hanyang University TEtrapod Robot), which has three active joints and on passive spring-loaded joint at each leg. In this paper, the performance and the effectiveness of this method are analyzed though a series of simulations of gallop. These simulation results show that the proposed generation method is effective for galloping locomotion