Realization of bounce gait in a quadruped robot with articular-joint-type legs

The purpose of this study is to realize the bounce gait in articular-joint-type quadruped robots. We first develop a new robot which can realize bounce. A simulator is then made for the purpose of analyzing dynamic walking and efficiently developing its control methods. We formulate the leg-support-exchange phenomenon using Lagrangian impulsive equation. The control method is discussed, and the results of computer simulation are shown. Experimental results are also presented.