Centroid-based analysis of quadruped-robot walking balance

Multi-legged robots are very useful to do tasks in rough environment. A challenging task in their applications is to manage its walking balance. To analyze such a walking balance, we consider a simple model of quadruped robotic walking and try to identify the centroid of foot polygons formed in every step. Also, we propose a performance index to estimate the walking balance. Simulation studies show that an indispensable waddling motion of the quadruped walking can be estimated by the robot´s centroid trajectory and the proposed balance index. The walking balance of the robot depends on the walking pattern employed. Finally, we discuss on a strategy to maintain the best walking balance and to facilitate an excessive dynamic walking motion. A useful walking style for the quadruped robot is also addressed in the bio-mimetic aspect.