Control of a tripod robot based on reaction forces

High-speed locomotion of walking robots has been studied. The most considered gaits are trot gait and pace gait. In trot gait, the diagonal legs are operated by turning the support legs. In pace gait, the right or left legs are operated by turning the support legs. High-speed walk is a variable gait. However, an efficient method for high-speed walk does not only consist of a variable gait, it also requires a positive use of reaction forces. A control method of a tripod robot for high-speed walk is presented with simulation experiments based on reaction forces