Articles | Volume 9, issue 1
https://doi.org/10.5194/ms-9-1-2018
https://doi.org/10.5194/ms-9-1-2018
Research article
 | 
04 Jan 2018
Research article |  | 04 Jan 2018

Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot

Chunsong Zhang and Jian S. Dai

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Cited articles

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Baisch, A. T., Ozcan, O., Goldberg, B., Ithier, D., and Wood, R. J.: High speed locomotion for a quadrupedal microrobot, Int. J. Robot. Res., 33, 1063–1082, 2014. 
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Boaventura, T., Medrano-Cerda, G. A., Semini, C., Buchli J., and Caldwell, D. G.: Stability and performance of the compliance controller of the quadruped robot hyq, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 1458–1464, 2013. 
Chan, C. Y. and Liu, Y. C.: Towards a walking, turning, and jumping quadruped robot with compliant mechanisms, IEEE International Conference on Advanced Intelligent Mechatronics, IEEE, 614–620, 2016. 
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Short summary
A continuous static gait of a quadruped robot benefited from the twisting trunk performing the increased stride length is introduced. After that, the increased stride length relative to the trunk twisting will be analysed mathematically. Other points impacting the implementation of the increased stride length in the gait are investigated such as the upper limit of the stride length and the kinematic margin. The increased stride length in the gait will lead the increase of locomotion speed.
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