Simple Walking Strategies for Hydraulically Driven Quadruped Robot over Uneven Terrain
Jungsan Cho, Jin Tak Kim, Jungyoung Kim, Sangdeok Park, Kab Il Kim · Journal of Electrical Engineering and Technology · 2016
Jinpoong is a quadruped walking robot developed by the Korea Institute of Industrial Technology.Jinpoong was developed for use in surveillance, reconnaissance, transportation, and guidance tasks in atypical environments such as those encountered after a disaster.To perform these tasks successfully, the robot must be able to walk stably over uneven terrain.The aim of this study was to develop a method for absorbing the impacts experienced by the robot while walking and a method for resisting external forces applied to the side (sagittal plane) of the robot so that it can walk stably.We demonstrate the efficacy of the methods developed through experiments.