A gait control algorithm to change the direction for a walking robot

보행 로보트의 방향전환을 위한 걸음새 제어 알고리즘

A walking robot must have the ability to change the body direction in order to avoid the obstacles. In this paper, we develop a gait control algorithm that can maintain the stable movement of the robot for three different modes of changing directions. The algorithm makes it possible for the robot to have the larger gait stability margin than the threshold value by the method of changing the body speed.