Quadruped locomotion: Dynamic gait control & design optimization

In this presentation, we introduce two majored contents including novel algorithms in control of dynamic locomotion of quadruped robots on unknown rough terrains and the method towards the optimization solutions in running legged robots. The control strategy was designed based on two different approaches. The first one uses the biologically inspired artificial Central pattern generators as the controller core whereas the second approach proposed a new method to approximate the leg motion using 3D spring-damper system model. Both two approaches were thoroughly studied in simulations and real experiments in a quadruped robot named AiDIN III. Besides, we present a practical procedure to solve the optimization problem of running robot design. The core idea is to use numerical tools to indirectly search for the parameters which results in not only self-stable motion but also optimized hardware structure.