Kinematic control of dual-tripod walking robot with a steering-wheel

This paper describes a new developed dual-tripod walking robot with a steering-wheel, this robot has a feature of independent straight going control and omnidirectional steering control; The robot walking velocity control is only dependant on its gait period and stride length, while its motion direction control is only dependant on its steering wheel, and the final motion will be the motion synthesis of straight going and steering. The gaits of straight going and omnidirectional steering are planned. The simulation and walking experiments are performed, and the results confirm that this robot has high performances in direction accuracy and stability.