Four-Legged Walking Robot, Steering and Turning Using Phase Control

Presented is a 4-legged walking robot. Unlike classical models, which require extensive actuation to walk, this robot achieves precise steering using 2 motors. Each motor controls a Theo-Jansen-like mechanism consisting of 2 legs. It is shown that the relative phase between the 2 motors determines the turning rate and direction of movement of the robot. The legs of the robot were designed using a model optimization algorithm, based on the desired trajectory of the legs. A quasi-static kinematic model was developed to predict the trajectory of robot and validate the control process, which is based on the relative phase between the motors. The model is verified via simulations, and a robot was constructed to demonstrate its movement and control process experimentally.