Strict Stealth Walking of Legged Robot Formed by Four Parallelogram Links and Equipped with Wobbling Mass and Reaction Wheel?

This paper proposes a novel legged locomotion robot model formed by four parallelogram links and equipped with a wobbling mass and a reaction wheel, and investigates the method for generating a strict stealth walking gait on the frictionless road surface. First, we describe the robot equation of motion, and design an output-following control system for generating a walking motion by ignoring the condition of the vertical ground reaction forces. Second, we redesign the control system taking into consideration the distribution of the vertical reaction forces or the zero-moment point. Furthermore, we discuss the improvement of energy efficiency using elastic elements in terms of specific resistance.