Stabilization of a quadruped locomotion system by side step control

Several control schemes have been proposed for stabilization of artificial quadruped locomotion systems, but attainment of adequate stability is still one of the barriers in designing a legged vehicle. A combination of continuous and discrete state feedback seems to provide a good way to maintain stable motion of such a system. In this paper, side step control, which is a discrete feedback technique, is studied by means of a linearized locomotion system. The results are verified by application to a nonlinear quadruped vehicle simulation.