An aperiodic Z type spinning gait planning method for a quadruped walking robot

Abstract

Spinning gaits are used for altering the direction of body in a narrow space. Previous studies reveal that z type leg-lifting sequence is suitable for spinning motion. In this paper, we focus on an z type aperiodic spinning gait for a quadruped walking robot. We proposed a condition of support pattern suitable for the aperiodic z type spinning motion. Based on the condition, we proposed an aperiodic z type spinning gait planning method. It is shown that spinning capability can be independent of required stability margin. A simulation shows that good spinning capability and good terrain adaptability are obtained. © 1995 Kluwer Academic Publishers.