Research Article
Gait Planning and Stability Control of a Quadruped Robot
Figure 20
Trot simulation controlled by CPG-ZMP. (a) ms−1. (b) ms−1. (c) ms−1. (d) Severe instability ( ms−1). (e) Stop CPG and replan gait. (f) Adjusting joint angle. (g) Restart CPG working. (h) Recover normal gait.
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