IEEE International Workshop on Intelligent Robots and Systems

IROS '90

F o o t T r a je c t o r y
f o r a Quadruped W a l k i n g Machine
Y o s h i h i r o SAKAKIBARA, K a z u t o s h i KAN, Y u u j i HOSODA,
M a k o t o HATTORI and M a s a k a t s u

FUJIE

M e c h a n i c a l E n g i n e e r i n g Research L a b o r a t o r y , H i t a c h i , L t d .
5 0 2 Kandatu. T s u c h i u r a , I b%raki 3 0 0 , J a p a n

Abstract

This paper d e a l s with t h e f o o t t r a j e c t o r y design

f o r a qiiadruped walking machine. A quadruped walking
machine r e q u i r e s both u n e v e n t e r r a i n walking and high
-speed f l a t s u r f a c e walking c a p a b i l i t y . T h e s t a t i c
walking method was used f o r u n e v e n t e r r a i n walking
and the dynamic walking method for f l a t p l a n e walking.
I n the dynamic walking c a s e , the r e l a t i v e speed
between the f o o t and t h e ground causes l o s s of' body
balance. A f o o t t r a j e c t o r y i s designed based on two
p o i n t s , the k i n e m a t i c s of f o o t motion and t h e
r e l a t i o n s h i p between j o i n t motion and j o i n t d r i v i n g
torque. This paper a l s o d i s c u s s e s a method for,
reducing impact f o r c e upon i n i t i a l c o n t a c t with a
f l o o r by a p e r i o d i c f o o t t r a j e c t o r y based on the wave
motion of a cam. I n t h i s method, v e r t i c a l and
h o r i z o n t a l motion of a f o o t t r a j e c t o r y were
independently g e n e r a t e d using c y c l o d i c motion. This
t r a j e c t o r y was d e s i g n a t e d the composite c y c l o i d f o o t
trajectory.
t

1.

Introduction:

I n r e c e n t y e a r s t h e r e has been a c t i v e development

in r o b o t s which have l e g s t h a t a r e c a p a b l e of moving
i n t h e same working environment a s humans. P l a c i n g
an importance upon p r a c t i c a b i l i t y i n p a r t i c u l a r , many
developments a r e being made f o r quadruped walking
machines Cll-C5l. T h e reason f o r t h i s i s , a quadruped
mechanism has g r e a t e r s t a b i l i t y while working
compared with a bipedal machineC63 and c o n s i s t s of
l e s s elements compared with a hexapedal mechanism. A
high l e v e l of uneven t e r r a i n walking c a p a b i l i t y ,
which i s o b t a i n e d from i t s l e g s , i s r e q u i r e d iri a
quadruped mechanism. I n o r d e r t o a t t a i n t h i s
c a p a b i l i t y , f i r s t of a l l , s t u d i e s a r e being done f o r
s t a i r s walking C21 and f o r t u r n walking by means of
s t a t i c walking C71 wherein more than t h r e e l e g s a r e
i n c o n t a c t with the ground a t one time . On t h e
o t h e r hand, the machine i s r'equired t o walk a t high
speed on a f l a t s u r f a c e . To a t t a i n t h i s high s p e e d ,
r e s e a r c h e r s a r e developing a dynamic walking method
where only two l e g s w i l l c o n t a c t t h e ground a t t h e
same timeC81.

- 315

F i g . 1.

S e q u e n t i a l photography o f
compact quadruped machine

A compact quadruped machine has been developed and

a study has been done in dynamic walking using t h i s
machine and varying t h e g e o m e t r i c a l parameters and
walking p e r i o d s of walking p a t t e r n s . As a r e s u l t , i t
has beeii proven t h a t the f o o t t r a j e c t o r y g r e a t l y
i n f l u e n c e s s t a b i l i t y and e f f i c i e n c y of walking [SI.
A problem i s c r e a t e d a s the walking speed or the
machine i n c r e a s e s . T h e impact f o r c e t h a t i s
g e n e r a t e d by the f o o t c o n t a c t i n g with t h e f l o o r
produces bad e f f e c t s upon c o n t i n u o u s , s t a b l e walking
and r e d u c t i o n of load a g a i n s t t h e machine CIOI. As a
s o l u t i o n t o t h i s problem, t h e c u r r e n t r e p o r t proposes
a low impact walking p a t t e r n with p a r t i c u l a r
a t ten t i o n on f o o t motion t r a j e c t o r i e s .
2.

Walking P a t t e r n Generation:

T h e motion of a walking robot i s determined by

two f a c t o r s , t h e motion t r a j e c t o r i e s a t t h e w a i s t C l l l
andGa t t h e f o o t C121. I n this r e p o r t , a t t e n t i o n is
paid t o t h e motion of t h e f o o t w h i c h h e l p s i n
reducing the r e a c t i o n of the f l o o r C127, and t h e
motion a t the w a i s t is assumed t o be uniform;
s t r a i g h t n o t i o n s t h a t p r e v e n t shaking of m a t e r i a l
being c a r r i e d . O n e walking period i s d i v i d e d i n t o
phases,,a s t a n c e phase and a swing phase, the problem

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l i e s i n hoH t o c o n r r o l the s t a r t and the s t o p o f the

s * i n g motion, s i n c e the s i a n c e phase has no motion
a g a i n s t the f l o o r . A problem e x i s t in determinirig
the t r a j e c t o r y which s a t i s f i e s t.he required s t e p
l e n g t h and f o o t h e i g h t . Even i f t.he foot. height.
rcaches i t s h i g h e s t p o i n t a t the i n t e r m e d i a t e point,
of the swing, the t r a j e c t o r y p r o b l e of connecting the
three points, including the intermediate point s t i l l
e x i s l . There have been a few methods proposed
r e g a r d i n g t r a j e c t o r y f o r manipulators C131. Yet, i n
c o n v e n t i o n a l f o o t t r a j e c t o r y f o r a walking r o b o t , the
walking speed was slow, c r e a t e d l e s s impact a g a i n s t
t h e f l o o r , and c r e a t e d no f o o t motion c o n f i g u r a t i o n
o r speed p a t t e r n problem. However, the quadruped
walking machine, which i s the s u b j e c t of the p r e s e n t
s t u d y , has a mass of approximately 300 kg and i s made
t o move a t a dynamic walking speed of 2.5 km/hour.
When the s i m u l a t i o n experiments were conducted
a p p l y i n g t h e walking p a t t e r n s developed f o r the
compact quadruped r o b o t , i t was observed t h a t t h e
robot l o s t i t s balance when the f o o t impacted with
t h e ground and s t a b l e walking p a t t e r n s were g r e a t l y
disturbed.
T h e r e f o r e , the p r e s e n t s t u d y t a c k l e d t h e
development of walking p a t t e r n s t a k i n g i n t o
c o n s i d e r a t i o n t h e a n a l y s i s of f o o t movement and t h e
dynamic a n a l y s i s of t h e l e g s .
The g a i t and walking p a t t e r n s in c o n s t a n t speed
s t r a i g h t walking a r e d i s c u s s e d below. I n t h e c a s e of
a quadruped r o b o t , two !egs make a p a i r and each p a i r
has a g a i t of a l t e r n a t e l y r e p e a t i n g the s t a n c e and
swing. When t h i s g a i t i s adopted, the motion p a t t e r n
of a s i n g l e l e g j o i n t can be a p p l i e d t o o t h e r l e g s ,
and one c y c l e of t h e quadruped movement can be
c o n s t r u c t e d i n two phases. I n t h e p r e s e n t s t u d y , the
t r o t t i n g g a i t o u t of s e v e r a l g a i t s from a p a i r of
l e g s i s adapted.

2.1

Two d i f f e r c n t viewpoin1.s a r e IISP(I 1.0 program i n orf

- l i n e the walking p a t t e r n of a walking r o b o t .
1 ) A method t h a t c o n s i d e r s f o o t motion: A mrr.hod t o
determine 3 p o i n t s , i . e . the d e p a r t i n g point. where
a f o o t leaves the f l o o r , the maximum f o o t hciglit
p o i n t where t h e f o o t reaches the h i g h e s t posiriori
arid the landing p o i n t , and a t r a j e c t o r y connecting
these three points.
2 ) A method t h a t c o n s i d e r s the motion and f o r c e of a
j o i n t : A method to determine j o i n t motions paying
a t t e n t i o n t o the r o t a t i n g speed and torque of a
joint.
The walking v e l o c i t y ( s t e p 1engt.h and walking p e r i o d ) ,
f o o t h e i g h t , and waist h e i g h t were used t o determine
the parameters f o r a walking p a t t e r n on a f l a t s u r f a c e .
i n determining a c c u r a t e f o o t h e i g h t and judging
i n t e r f e r e n c e with t h e o u t s i d e environment d u r i n g a
swing, method 1 ) i s considered s u i t a b l e . Ilowever, i n
o r d e r t o s h o r t e n the walking period t o improve the
walking s p e e d , method 2 ) i s b e t t e r s u i t e d , sirice i t
i s done in r e l a t i o n s h i p with t h e maximum a n g u l a r
v e l o c i t y , maximum a n g u l a r a c c e l e r a t i o n , and m a x i m u m
torque of a swinging j o i n t . During f l a t s u r f a c e
walking, a c c e l e r a t i o n and d e c e l e r a t i o n of t h e
swinging l e g motions can he programmed ahead of time
t a k i n g i n t o c o n s i d e r a t i o n the amount of contact.
between the f l o o r and t h e f o o t in motion.
i n the
p r e s e n t s t u d y , t h e a u t h o r s f i r s t developed the l e g
walking p a t t e r n s determined b y f o o t movements based
on the ground c o o r d i n a t e s . These can e a s i l y d e s c r i b e
the motions near the c o n t a c t p o i n t s with the f l o o r ,
and a l s o based on t h e c o o r d i n a t e s f i x e d on the body
of t h e robot ( f i x e d waist c o o r d i n a t e ) . As the speed
a c c e l e r a t e s , a smooth a c t i o n i s required of t.he
walking robot. Then a n a l y s i s was made t o t h e walking
p a t t e r n developed in t h e above manner b y method Z ) ,
as i t requires instructions considering the
g e n e r a t i o n of i n e r t i a f o r c e by . j o i n t movements. t h e
r e s t r i c t e d dynamics of j o i n t movements and body
shaking.
2.2

F i 9.2.

Walking P a t t e r n Generation Method:

Walking P a t t e r n Development Device:

The process flow of the c u r r e n t walking p a t t e r n

development i s shown i n F i g . 3 . F i r s t , the
s p e c i f i c a t i o n d a t a of t h e specimen robot a r e e n t e r e d .
I n c o n c r e t e terms, they i n c l u d e t h e dimensions of
l i n k s , mass of l i n k s and the p o s i t i o n of the mass
( c e n t e r of g r a v i t y of l i n k s ) in a m a t e r i a l p a r t i c l e
model. Next, parameters, such a s . foot h e i g h t . s t e p
l e n g t h , waist h e i g h t , and walking p e r i o d s necessary
t o determine the f o o t t r a j e c t o r y and w a i s t p o s i t i o n
trajectory a r e input.
Fn a n a l y z i n g t h e f o o t motions. t h e movements a r e
analyzed by g r a p h i c d i s p l a y of v a r i a t i o n s of the foot

Quadruped wa I k i ng mach i n e

316 -

contact

Robot Specifications
Data Input

the f l o o r .

Therefore,

the f o o t motion

w i t h non-dimensional equations h i

d i v i d i n g t i m e I. by s w i n g i n g p e r i o d Ty.

Walking Paltern Parameter Input

Foot Height Max.
Step
Waist Height
Period (Normal)

as follons.

The c o o r d i n a t e s t h a t e x p r e s s t h e f o o t m o t i o n a r e
s u c h t h a t t h e X a x i s i s t a k e n on a l i n e a r l i n e
c o n n e c t i n g t h e d e p a r i i n g p o i n t and l a n d i n g p o t n ~on a

3.1

Joint Angle Calculator

Analysis of Joint Motion
Continuity
Maximum Angle Velocity
Maximum Angle Acceleration

and t h e Z a x i s i s on t h e v e r t i c a l

f l a t floor,

Waist Trajectory
Analysis of Body Motion

Foot Trajectory
Analysis of Foot Motion
Relative Motion
to the Floor
Velocity. Acceleration

with

i s descrihed

line.

Sinusoidal Trajectory:

When t h e d e p a r t i n g p o i n t ,

l a n d i n g p o i n t , and t h e

maximum f o o t h e i g h t a r e d e s i g n a t e d , one r o o t
Dynamics Analysis
Joint Torque

t r a j e c t o r y c a n be d e t e r m i n e d b y i n t e r p o l a t , i o n
those p o i n t s u s i n g a s i n u s o i d a l curve.

&

I MemoN lor Joint Anele Reference I

of

Assuming t h e

u n i f o r m speed m o t i o n i n t h e f o r w a r d d i r e c t i o n and
sinusoidal motion i n the v e r t i c a l d i r e c t i o n ,
l e n g t h i s So,

Reference

t h e maximum foot. h e i g h t 110,

t,he s t e p

and t h c

s w i n g i n g l e g m o t i o n s on t h e g r o u n d c o o r d i n a t e s can be
e x p r e s s e d by

Fig.3.

Process o f w a l k i n g

X = So t / T y
Z = Ho s i n ( z t / T y )

pattern generation

(1)
(2)

As shown i n F i g . 4 , a model was p r e p a r e d o f t h e l e g

position,

v e l o c i t y and a c c e l e r a t i o n .

t r a j e c t o r y dat.a and w a i s t p o s i t i o n t r a j e c t o r y ,
determined,

used i n a s i n g l e - l e g e x p e r i m e n t a l s y s t e m ; a

The f o o t

s i m p l i f i e d s y s t e m o f t h e q u a d r u p e d machine i n a c t u a l

thus

a r e p u t i n t o the j o i n t angle c a l ~ u l a t i n g

s e c t i o n and a r e c o n v e r t e d i n t o t a r g e t j o i n t a n g l e s .

s i z e w h i c h i s shown i n F i g . 2.

These a r e a n a l y z e d i n t h e j o i n t a n g u l a r m o t i o n

and t h e p a r a m e t e r s

analysis section.

above e q u a t i o n s .

angular v e l o c i t y ,

On each j o i n t ,

the j o i n t angles,

and a n g u l a r a c c e l e r a t i o n s as v a r i e d

by t i m e passage and a r e g r a p h i c a l l y d i s p l a y e d and t h e

l e n g t h So = 450
p e r i o d =0.7 sec.,

of

Shown i n F i g .

generated.

these

These a n a l y s e s were r e p e a t e d ,

and z.

and t h e w a l k i n g p a t t e r n was

walking p a t t e r n i n t o the
we s e l e c t e d as t h e
step

m m , f o o t h e i g h t Ho = 100 m m , w a l k i n g

The m o t i o n s a r e d i v i d e d i n t o h o r i z o n t a l and

v e r t i c a l d i r e c t i o n s , and t h e i r p o s i t i o n s , v e l o c i t i e s ,
and a c c e l e r a t i o n s as v a r i e d a g a i n s t t h e t i m e a x i s as

The f i n a l d a t a g e n e r a t e d f o r t h e t a r g e t

j o i n t a n g l e s a r e s t o r e d i n t h e memory.

of t h e

F o r example,

and s w i n g i n g t i m e Ty = 0.35 s e c .
6 a r e t h e f o o t t r a j e c t o r i e s on p l a n e x

Torque

v a r i a t i o n s a r e o b t a i n e d by d y n a m i c a n a l y s e s
t h e r e s u l t s were s t u d i e d ,

the f o o t motion

p a r a m e t e r s t o s a t i s f y a speed o f 2 k a / h o u r . t h e

c o n t i n u i t y and maxiflum v a l u e s a r e c h e c t e d .
j o i n t angular motions.

Then,

i s o b t a i n e d by a s s i g n i n g t h e d i m e n s i o n s o f t h e r o b o t

shown i n F i g . 7.

I t a r e then

o u t p u t t o a j o i n t a c t u a t o r on t h e r o b o t by a w a l k i n g

Figures.

7 ( 1 ) and 7 ( 4 ) a r e t h e

p o s i t i o n a l v a r i a t i o n s o f the f o o t i n d i r e c t i o n s o f x

c o n t r o l device according t o the a c t u a l walking period,

and t h e r o b o t w a l k s .

3.

Walking Patterns:

v b :wim srem

(KQY

SPEEDI

Leg m o t i o n s of a quadruped w a l k i n g r o b o t can be

of t h e f o u r f e e t and t h e
of t h e body c e n t e r as

d e s c r i b e d by t h e p o s i t i o n s
position o r orientation

d e t e r m i n e d d u r i n g t h e passage o f t i m e .

-1IIC

a t t e n t i o n i s p a i d t o t h e m t i o n s o f each l e g .

II&IIMIR

IN ffi

I n t h i s paper
The

moment when t h e f o o t l e a v e s t h e f l o o r i s e x p r e s s e d as

t=O,

t h e l a n d i n g moment as t i m e T Y , and t h e n e x t

moment o f d e p a r t u r e as

T.

I n o t h e r words,

w a l k i n g p e r i o d w i l l be T,the
the stance p e r i o d T
t

<

T,

Ty=Tr.

one

s w i n g i n g p e r i o d Ty, and
When t h e t i m e t i s

the f o o t remains on t h e f l o o r .

Ty <

The o b j e c t i v e

Fig.4.

o f the present study i s t o determine the f o o t motions

during a swinging period,

i.e.

Composition o f
t h e e x p e r i m e n t a l system

when t h e l e g i s n o t i n

- 317

(P,-P,)

:raIVlmmwe

'E

Stance Phase

X V

Swing Phase

.z2
x

Fig.5.

Simulation model

40000-4000-8000.

(2)
4,
N l

o
0

100

o
200

300

axis v e l o c i t y

1
400 X

(mm)

-2

( 1 ) Ground coordinate foot trajectory

-4
-0.25T

OT
time

0.25T
0.5T
(T=0.7sec)

x axis

(3)

0.75T

acceleration

(2) Waist fixed coordinate foot trajectory

Fi9.6.

and z a x e s ; F i g s . 7 ( 2 ) and 7 ( 5 ) the v e l o c i t y

v a r i a t i o n of the f o o t in d i r e c t i o n s of x a n d z a x e s :
and F i g s . 7 ( 3 ) and 7 ( 6 ) t h e a c c e l e r a t i o n v a r i a t i o n s .
I t can be seeii that in each c a s e , a d i s c o n t i n u i t y of
speed i s c r e a t e d a t the d e p a r t i n g a n d landing p o i n t s
when t-0 a n d t=Ty,and an i n f i n i t e a c c e l e r a t i o n i s
c r e a t e d . I n a c t u a l d e p a r t u r e , such a motion can
r e s u l t in p o s i t i o n i n g c o n t r o l e r r o r s a n d c r e a t e
impacts and v i b r a t i o n s b y impingement a t the time of
l a n d i n g . Also, the body shaking b y d i s t u r b a n c e s w i l l
cause t h e f o o t t o impinge upon the f l o o r a t the
maximum v e l o c i t y i n d i r e c t i o n s of x a x i s and a l s o in
z a x i s a t t-Ty - Q when t h e land ng time i s
a c c e l e r a t e d b y Q second. This wi 1 c r e a t e a anding
impact. Such an impact p u t s exces i v e s t r e s s n the
l e g s , shakes the body, and c r e a t e s i n s t a b i l i t y i 11
walking.
3.2

-100
-200

._
d
'si

Sinusoidal f o o t trajectory

C o m p o s i t e Cycloid T r a j e c t o r y :

Beside t h e t r a j e c t o r y d e s c r i b e d i n t h e previous
paragraph, c o n s i d e r a t i o n i s given t o a t r a j e c t o r y
where t h e f o o t v e l o c i t y and a c c e l e r a t i o n can he
continuous both a t the time of d e p a r t u r e and l a n d i n g .
F i r s t , l e t s look a t t h e motion in the d i r e c t i o n of

-0.25T

OT
time

(4) z a x i s

-16001
-0.25T

>

OT
time

-41

$m

-0.25T

0.25T
0.5T
(T=0.7sec)

position

I
I
0.25T
0.5T
(T=0.7sec)

0 5T

OT
time

0.25T
0.5T
(T=0.7sec)

(6) Z

axis a c c e l e r a t i o n

Fi9.7. Sinusoidal f o o t motion

- 318 -

0.75T

0.75T

the x axis. As the boiindary condition, the swing leg

moi.ion acceleration is assumed a s 0 at. the connecting
puinl wi 1 . h the sI.;ince p e r i o d . 'Then, !.he acclclcvat ion
in one swinging period is varied sinusoidally and
expressed a s
(3)

X = Am sin 2 n t/Ty

TY
' The.speed
is obtained by integrating Eqiiation ( 1 0 )
when Z=O at. 1.=0, TyJ2 b y
*
Am2 Ty
t

2 =

I
_

(1

cos 4n-)

(11)

TY

4K

A speed of 0 i s assumed at the connecting point

The position is expressed by integrating

Equafion ( 1 1 ) with t,
when z=O at t=O and z=llo at t=Ty/2 by

between the swinging leg periods and the stance

periods as the boundary condition for the velocity.
When

__

= Am2 sin 4 n

X = 0 at t = 0, and X = 0 at. t = Ty,

Ty

Am2 Ty

AmlTy

x.

___ ( I - c o s

t
2 n __ 1

4n

(4)

2n
TY
and the position i s obtained by integraiing
Equation ( I ) with t

TY
__ sin 4 % -

(--

2 =

(12)

TY

4n

8 IC Ilo

Am2 =

TY'
TY

AmlTy

sin

(t

X z -

2 x

2xt
)

Then Equation (13) i s assigned to Equations (101, (111,

and (12) to obtain the following,

c1

TY

2n

When X=O at t=O, and X=So at t=Ty

2 n so
C1 = 0, Am1 =

_
I
_
_

TY'

so

TY

27t

1
t
__ sin 4n4n
TY

(16)

___ sin 4 n tn)

4n

TY
1

(15)

= ZHo(tn

- __ sin 2n-

X = So(-

TY

TY

TY

cos 4 n ___ )

TY

2 = 2110 (-

t
- cos z n - )

-(1

- (1 TY

Equation (6) i s assigned to Equations ( 3 1 , ( I ) ,and

( 5 ) to obtain the following,
2 nSo
t
x=sin 2 n (7)

TY'

2110
=

TY
N

= So(tn

1
- __ sin 2 n tn)
2n

100
200
300
400 X (mm)
(1) Ground coordinate foot trajectory

(9)

I
I n z axis movements, the boundary conditions of the

foot motions are set s o that the acceleration and

velocity will become 0 at points of departure,
maximum foot height and landing. Regarding the
periodic motions of a f o o t repedting impingement upon
the floor as a type of vertical motions of a shaft by
a cam, the acceleration is varied sinusoidally.
Against 0 5 E S T y / 2 ,

'

100

200
O

300

400 XZ (mm)

0
(2) Waist fixed coordinate fool trajectory

Fi9.8.

Composite cycloid foot

trajectory
b

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Shown

iii

F i g . 8 a r e the f o o t tra.jert.ories

exiirpc-

b y t h e ahove f o r m u l a s a s a p p l i c d 1.0 nii a c t . i i a 1 rob.-

-5001

.:.

-1000

-0.257-

0.25T
0.5T
(T=0.7sec)

OT
time

(I) X

l,'ip,iir<>!I

i i i r l i i : . ~ ~ c st 1 1 v

IIICII

i r j l i s i n x :11ir1

(1irrr.l i '

7.

S w i n g i n g 1r:g p e r i o i l c ~ ~ r v ci sn

v a r i e d hy t i m e .

1 . 1 ~ :

( 1 ) and ! ) ( I )w i l l g i v e c y c l o i i l C u r v e s , and t h c l ' o r .

0.75T

l r a j e c t o r y cxprc:ssc:d

t i y groi11111v o o r t l i n i i L e s

w i l l lic

of r o o t mot.ions i n ( l i e x arid 7, d i r e c t i c l t i e r e f o r c , wc s h a l l c a l l I . h i s l o o t t . r a , i e c t o r y a

composit,ion

"

axis p o s i t i o n

composi l e c y c l o i d t , r a j e c t o r y " .
n o t e d where,
trajectory

An improvement. call .

i n c o m p a r i s o n L O t.he s i n ~ i s o i d a lwave

i n t,he p r e v i o i i s s e c t i o n ,

the v e l o c i t y arm-

a c c e l e r a t i o n h e r e c a n v a r y c o n t i n u o r ~ s l ywhen t.-0 a r
=Ty=0.5T.

I f t.he f o o t v e l o c i t y i s c o n t i n u o i i s a t

ii,.-

s h i f t i n g p e r i o d belween t h e st,ance and s w i n g i n g

m o l i o n s , t h e mot.ion o f t h e legs w i l l be smooth.

(T=0.7sec)

time

(2)
,

m o t i o n o n Lhe f l o o r c l i i r i r i g a s t a n c e p e r i o d and the

axis v e l o c i t y

41

JN

'i

Ai:

s i n c e the b o ~ i n i l a r y a r e a t)et.ween Lhc st.anrling f o o l

s w i n g i n g mor.ion i s smo0t.h and c o r i ~ i n i i o ~ r s he

,
Too!.
can be p l a c e d on t h e f l o o r o r l i f t e d f r o m t h e f l o o r
a t t h e r e 1 a t . i v e v e l o c i t y of z p r o ,

thus rcdiicinl:

i m p a c t a t t h e t,ime o f c o l i t a c t .

time

(I)

m E

N.5

.-3
-

8000-800-1600

time

(2)
I

(T=0.7sec)

acceleration (sinusoid)

(T,=0.7sec)

acceleration (composite cycloid)

Fig.10.

F o o t m o t i o n for v a r i o u s

t ra j e c t o r i es

We h a v e t.hus f a r d e s c r i b e d two t y p e s o f f o o t
trajectories.

The aiit.hors a r i a l y z c d t h e p u s i t i o r i ,

v e l o c i t y , and a c c e l e r a t i o n o f e a c h f o o t

t ra.iPc:tory.

d e v e l o p e d a new t r a j e c t o r y , o b ~ a i n e da s m o o t h e r
v e l o c i t y and a c c e l e r a t . i o n ,

and r e d u c e d t h c maximum

v e l o c i t y and maximum a c c c r l e r a t i o n .
accelerations

Fig.9.

Composite c y c l o i d ' f o o t m o t i o n

The r e s u l t . a n t

of t h e foot i n t h e vert,ic:al

and

h o r i z o n t a l d i r e c t i o n s indicated against the time axis

a r e shown i n F i g . l O .
I n t h e composite c y c l o i d i n F i g .

10(2). foot

a c c e l e r a t i o n s show c o n t i n u o u s v a r i a t i o n s f r o m t h e
stance position.

- 320 -

4.
Leg

A n a l y t i c a l R e s u l t s o f J o i n t Angular Motions o f
Walking P a t t e r n s :

The previous c h a p t e r d i s c ~ r s s e d the development of

walking p a t t e r n s from the viewpoint of f o o t motions
a n d t h e i r e v a l u a t i o n s . The leg movements a r e
performed by an a c t u a t o r a t t a c h e d to each j o i n t .
T h e r e f o r e , in t h i s c h a p t e r , the walking p a t t e r n s
d e s c r i b e d a r e compared and s t u d i e d from the viewpoint
of j o i n t motions.
The torque a p p l i e d to a j o i n t
v a r i e s depending on t h e weight d i s t r i b u t i o n on each
l i n k . T h e r e f o r e , the leg machine prepared f o r t h i s
s t u d y was f i r s t made i n t o a s i m u l a t i o n model of a
c o n c e n t r a t e d p a r t i c l e system. F i g . 5 shows t h e

c y c l o i d t r a j e c t o r y . W i t h r e g a r d s to a c r e l e r a t i o n ,
t h e form of a c c e l e r a t i o n v a r i e d i n the v e r t i c a l
d i r e c t i o n irl a composite c y c l o i d t r a j e c t o r y ( F i g . 9 ( 6 ) )
a p p e a r s e x a c t l y the same a s ' the a c c e l e r a t i o n
v a r i a t i o n o f the knee j o i n t ( F i g . t l ( 7 ) ) . At the
same time, the w a i s t a n g u l a r v e l o c i t y v a r i a t i o n ( i ' i g .
l l ( 2 ) ) a l s o shows i n f l e c t i o n p o i n t s . One .can
r e c o g n i z e an improvement i n the follow-up performance
of j o i n t motions d u r i n g swinging, r e d u c t i o n of
g e n e w t i o n of i n e r t i a b y swinging the l e g , and
r e d u c t i o n of body s h a k i n g .
Conclusion:

5.

s i m u l a t i o n model. T h e p a r t i c l e model which

s i m p l i f i e s the s t a n c e model and swing model a r e shown
aL Fig. 5. A torque c a l c u l a t i o n was made on t h i s
model. F i g u r e 11 shows t h e a n a l y t i c a l r k s u l t s of
waist and knee j o i n t motions f o r t h e composite

I n developing the walking p a t t e r n s f o r a walking

r o b o t , i n f l u e n c e on t h e s t a b i l i t y of a r o b o t ' s
walking by f l o o r r e a c t i o n s when a f o o t comes i n
c o n t a c t with t h e f l o o r were t a k i n g i n t o a c c o u n t .
S t u d i e s were done f o r l e s s impacting f o o t motions.
C o n v e n t i o n a l l y , walking p a t t e r n s have been developed

;:
i
i
/
h

-40

.g

.s

-80
OT

-0.25T

'-

time

(I)

0.25T
0.5T
(T~0.7sec)

10.75T

-80
time

waist j o i n t angle

(T~0.7sec)

( 5 ) knee joint angle

>U
M

-- -8001
.s

OT

-0.25T

time

0.25T
0.5T
(T=0.7sec)

-400

-800

0.75T

time

(2) waist j o i n t angle velocity

C-

20

.2%

10-

54
2%
0 -

,"E
E!

-10-20

-10

.-0t
._

(3)

'
-6

time
(T=0.7sec)
waist j o i n t angle acceleration

.-0C

0
-0.25T

time

._

(7)

(T~0.7sec)

knee j o i n t angle acceleration

- -80

-80
-160

'-

(T=0.7sec)

( 6 ) knee j o i n t angle velocity

OT
time

0.25T
0.5T
* (T=0.7sec)

0.75T
time

(4) waist joint torque

(8)

(T=0.7sec)

knee j o i n t torque

F i g . 11. J o i n t mot i o n

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Cl01 Y.Hosoda, M.Hattori et al.,Development of

Quadruped Walking Machine(3) Design of Walkinn

from studies of the rorms and the method of their

interpolation. W i t h this in mind, il is import an^ to

rcmemher r h a t , as t h e walking speed increases, a
continuity exists between the relative velocity at
the floor and foot and the velocity/acceleration at
the foot and joini angles. As a result, a composite
cycloid trajectory is developed by expanding the
cycloid motions into two dimensional motions within )I
and z planes. Wi1.h this trajectory, the foot, can be
setdown o r lifted from the floor at a relative speed
of 0, and acceleration and deceleration can he
conducted smoothly during swings. Thus, the
possibility of a foot motion with a smaller maximum
acceleration has been clarified. From the viewpoint
of joint angular motions, the acceleration of a
composite cycloid trajectory i n a vertical direction
has been discussed. This trajectory has clarified
the possibility of making the actuator move smoothly
without burden and reducing the impact against the
floor.
This is contracted research under a major project
of the Agency of Industrial Science and Technology,
MITI, entitled the Advanced Robot.

Mechanism, Proc. of 6th Annual Conf. Robotics

Society of Japan, pp307-308,1988.
C l 1 1 Y.Sakakibara, M.Hattori et al. ,Development o f
Quadruped Walking Machine(6) Gravi ly Center
Trajectory Generation for Quadruped walking
Machine, Proc. of 7th Annual Conf. Robotics
Society of Japan, pp701-702,1989,
C121 Y.Sakakibara, K.Kan et al. ,Development o f
Quadruped Dynamic Walking Machine(2) Evaluation
of the Floor Reacting Force and Foot Trajectory
with Single Leg Experiment, Proc. of 6th Anniia;
Conf. Robotics Society of Japan, pp325-328,1988.
Cl31 Il.Ozaki, M.Yamamoto and A.Mohri, Planning of
Near-Minimum-Time Joint Trajectory for
Manipulators Using B-Spline, Trans. of The
Society of Instrument and Control Engineers,Vol.N0.11,pp83-89,1987.

References

C11 H.Kimura,l.Shimoyama and H.Miura, Conditions of

Gait Selection in Dynamic Walk of the Quadruped,
Proc. of 5th Annual Conf. Robotics Society of Japan,
pp369-370,1987.
C21 S.Hirose, A Study of Design and Control of a
Quadruped Walking Vehicle, The International
Journal of Robotics Research, Vo1.3,No.Z Summer
1984.
C31 M.Fujie,Y.Aosoda et al., Development of
Quadruped Walking Machine,ICAR Proc. ,pp65-76 Sept.
1987.
C41 McGhee,R.B and A.A.Frank,On the Stability
Properties of Quadruped Creeping Gaits,
Mathematical Biosciences.1968.
E51 M.Il.Raibert et al.,Running on Four Legs As
Though They Were One, IEEE Journal of Robotics
and Autonation,Vol.RA.Z,No.2 1986.
C61 l.Katoh,M.Fujie et al.,Development of Legged
Walking Robots, The flitachi llyouron,Vol.68,No.lO,
ppZ5-30,1986.
C71 Miomir Vukobratovic ,Legged Locomotion Robots,
1975.
C81 M.Fujie, Y.Sakakibara et al.,Development of
Quadrupedal Mechanism(1) Study of Redundant
Freedom Hechanisrn Control, Proc. of 6th Annual
Conf. Robotics Society of Japan, pp321-324,1988.
[91 K.Kan and M.Fujie, Development of Miniature
Quadruped Robot --A Study on Gait with Walk
Experiment--,Proc. of 5th Annual Conf. Robotics
Society of Japan, pp365-366,1987.

322 -