Gait Development On Minitaur, A Direct Drive Quadrupedal Robot

The development of dynamic, quadrupedal robots is becoming an increasing topic of interest with the growing demand for robotic interaction in the human environment, but they require adaptable control schemes to address the challenges encountered while traversing real world terrains. In this study, we explore improvements to both physical and control methods to a quadrupedal system in order to achieve fast, stable walking and trotting gaits. This analysis includes an investigation of physical compliance, 5-bar kinematics for trajectory shaping, and the implementation of ground and obstacle contact sensing. Structural and mechanical improvements were made to reduce undesired compliance to generate faster, more stable gaits. Contact sensing was implemented for identifying obstacles and deviations in surface level for negotiation of varying terrain. Overall, the incorporation of these features greatly enhances the mobility of the dynamic quadrupedal robot and helps to establish a basis for overcoming obstacles.