Stable Quadrupedal Dynamic Walking using Phase Modulations based on Leg Unloading

Dynamic walking at lower Froude number (Fr) is difficult to realize than that at higher Fr, since both posture control and rhythmic motion control are important and should be inte-grated. We are developing a general quadrupedal locomotion controller by using a neural model involving a CPG (Central Pattern Generator) utilizing normal ground reaction force (leg loading) sensory feedback for both rolling motion (posture) and gait (rhythmic motion) control. Especially, while using a non-oscillator-typed CPG and generating the self-excited physical oscillation as a result of local feedback, we could be able to integrate sensor-dependent posture control and sensor-driven rhythmic motion control. Currently, we succeeded in simulations of dynamic walking under disturbances while using a CPG with phase modulations based on leg unloading. PHASE MODULATIONS BASED ON LEG UNLOADIN