Journal of Intelligent & Robotic Systems

, Volume 72, Issue 3–4, pp 325–341 | Cite as

Posture Stabilization Strategy for a Trotting Point-foot Quadruped Robot

  • Jae-Wook Chung
  • In-Ho Lee
  • Baek-Kyu Cho
  • Jun-Ho Oh


This paper proposes a posture stabilization strategy for achieving the stable trot gait of a point-foot quadruped robot. Specifically, a stepping strategy (foot placement strategy) has been developed to achieve a stable trot gait. Because in the trot gait of a quadruped robot the diagonal legs can be considered to contact and leave the ground at the same time, the trot gait can be considered as a virtual biped gait. Based on the dynamic model of a virtual biped gait, the stepping point (or the foot placement) that achieves the stabilization of the robot is determined. Finally, the effectiveness of the proposed posture stabilization strategy is validated experimentally.


Trot gait Virtual biped Posture stabilization strategy Stepping point 


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Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  • Jae-Wook Chung
    • 1
  • In-Ho Lee
    • 2
  • Baek-Kyu Cho
    • 3
  • Jun-Ho Oh
    • 2
  1. 1.1st R&D 3Agency for Defense DevelopmentDaejeonRepublic of Korea
  2. 2.HUBO Laboratory, Humanoid Robot Research Center, Department of Mechanical EngineeringKAISTDaejeonRepublic of Korea
  3. 3.School of Mechanical Systems EngineeringKookmin UniversitySeoulRepublic of Korea

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