EFFECTS OF NECK SWING MOTION ON THE BODY POSTURE OF A FOUR-LEGGED ROBOT

This paper discusses how the neck swing motion of a four-legged robot affects its body posture, which is crucial for stabilized walking and running, through simulation. Using ODE (Open Dynamics Engine), we modeled a quadruped robot, based on a real robot that we have been developing, that has two joints in each front leg and three joints in each hind leg. First, we calculated the COG (center of gravity) at different neck joint angles. Then, we created a toe trajectory and chose the best set of the trajectory parameters by evaluating the pitch angle of the body. Finally, we investigated the effect of the neck swing motion on the body roll and pitch angles.