Raibert M H
Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge 02139.
J Biomech. 1990;23 Suppl 1:79-98. doi: 10.1016/0021-9290(90)90043-3.
This paper explores the quadruped running gaits that use the legs in pairs: the trot (diagonal pairs), the pace (lateral pairs), and the bound (front and rear pairs). Rather than study these gaits in quadruped animals, we studied them in a quadruped robot. We found that each of the gaits that use the legs in pairs can be transformed into a common underlying gait, a virtual biped gait. Once transformed, a single set of control algorithms produce all three gaits, with modest parameter variations between them. The control algorithms manipulated rebound height, running speed, and body attitude, while a low-level mechanism coordinated the behavior of the legs in each pair. The approach was tested with laboratory experiments on a four-legged robot. Data are presented that show the details of the running motion for the three gaits and for transitions from one gait to another.
小跑（对角对）、溜蹄（侧对）和跳跃（前后对）。我们并非在四足动物中研究这些步态，而是在一个四足机器人中进行研究。我们发现，每种成对使用腿部的步态都可以转化为一种共同的基础步态，即虚拟双足步态。一旦转化，一组单一的控制算法就能产生所有三种步态，它们之间的参数变化不大。控制算法操纵反弹高度、奔跑速度和身体姿态，而一个低级机制协调每对腿部的行为。该方法在一个四足机器人上通过实验室实验进行了测试。所呈现的数据展示了三种步态以及从一种步态到另一种步态转换时奔跑运动的细节。
