Realization of Complex Terrain and Disturbance Adaptation for Hydraulic Quadruped Robot under Flying trot Gait To improve the dynamic motion capability of the bionic quadruped robot, a kind of flying trot gait control method is proposed. Planning the motion of the torso and mapping it to the foot, the robot can achieve a stable flying trot movement. The motion controller is designed based on the spring loaded inverted pendulum (SLIP) model to achieve selfrecovery stability under the external force disturbance of the robot. The proposed method can achieve the transition between the trot and the flying trot gait, where the flying trot gait can improve the speed of the quadruped robot and trot gait motion has a better robust ability. The dynamic simulation results of Webots verify that the method can achieve threedimensional stable and robust flying trot gait. The quadruped robot can effectively climb the slopes within 20xe2x97xa6 in flying trot gait and resist lateral impact forces. Experiments on the physical platform SCalfIII verify the effectiveness of the proposed method to achieve stable flying trot gait.

Bionic Architecture Design and Robust RoughTerrain Locomotion for a HighPayload Quadrupedal Robot * In this work, an electrically actuated quadrupedal robot with bionic architecture, Pegasus, is reported. With investigating the anatomical skeleton of mediumsized dog, its movement mechanism, and dogxe2x80x99s joints, we conclude that the architecture design of quadrupedal robots can benefit from bionics research. There is an optimization for structural parameters, geometrical relationship, and motion range of each joint according to the findings in bionics. The bionic structure design is verified by analyzing mechanical performance and motion ability of the robot. The bionic architecture allows COG trajectory not to follow the terrain profile and COG fluctuations are significantly suppressed when going through rough terrains. In order to generate a stable COG trajectory with fewer pose fluctuations, the step sequence and four footholds in each step follow the typical biological gait pattern for dynamic walking over rough terrains while the robot can keep robust postures in efficient workspace for each leg. Moreover, Virtual Muscle model is realized for each legxe2x80x99s compliance control with two sets of virtual spring and damper, in order to absorb feet impacts on the ground.