동역학적 방법을 이용한 4족 로봇의 트롯 궤적 생성

Abstract

In this paper, a trot trajectory of quadruped robot was generated using a dynamic method. Trotting method is moving two foot located on the diagonal line simultaneously. An appropriate trajectory generation is required to walk stably through the method. Its body trajectory is generated under an assumption that the robot is a particle. The trajectory makes Zero Moment Point(ZMP) of the robot located in the middle of the two supporting feet. The foot trajectory is generated by a sine wave for periodic motion of the foot. The proposed trajectory generation method was verified through simulation.