Control of a quadruped robot using double crank-slider mechanism

In this paper, an analysis of the double crank-slider mechanism for a quadruped robot and its control method in pacing gait are described. The double crank-slider mechanism has the advantage of high efficient use of the actuators because any motion of the mechanism is generated by the cooperative movements of two actuators. However, this mechanism has a complicated kinematics. The kinematics of the double crank-slider mechanism is analyzed. We then deal with the control of the lateral motion of a quadruped robot in pacing walk with zero-stance. It was proved in simulation that the simple control method proposed enables the quadruped robot to exchange the supporting legs with long walking period