Dynamic turning control of a quadruped locomotion robot using oscillators

We propose a dynamic turning control system for a quadruped robot that uses non-linear oscillators. It is composed of a spontaneous locomotion controller and voluntary motion controller. We verified the mechanical capabilities of the dynamic turning motion of the proposed control system through numerical simulations and hardware experiments. Various turning speeds and orientations made the motion of the robot asymmetrical in terms of the duty ratio, stride and center of pressure. The proposed controller actively and adaptively controlled redundant degrees of freedom to cancel out dynamic asymmetry, and established stable turning motion at various locomotion speeds and turning orientations.