Abstract: Abstract：The problems of the quadruped robot joint control and turning gait planning are researched in this paper. Firstly, the singleleg dynamic model of quadruped robot is established. Its multiinput multioutput (MIMO), timevarying, coupled and nonlinear characteristics are analyzed. A MIMO characteristic model with input decoupling is derived. A controller, which combines MIMO goldensection adaptive control law and differential control law, is designed for the model. Secondly, a turning gait is proposed via modifying the step lengths of the left and right legs respectively. Furthermore, the relationship between the step length correction and the turning radius is analyzed. Finally, the virtual prototype technology is used to simulate the straight and turning gaits of the robot under zero load and 50kg load respectively. The simulation results verify the effectiveness of the proposed method.  

Key words: Keywords：quadruped robot, characteristic model, golden section adaptive control, trotting gait