Free Locomotion Gaits for a Four Legged Machine

The human interaction with new kind of machines has made possible the development of new technics to drive and control devices in the robotics field. Specifically, on the control systems for walking machines there are several problems to be solved. Some of these problems are the free locomoction gaits. In this paper are shown the basic principles involved in the desing of free gaits to develop a control system for a walking machine. The locomotion method shows an interesting phrasing to solve the stability problem at the beginning of locomotion from any initial configuration of the robot. The real-time control method is used by a human to operate the robot using a virtual reality representation in the control station machine. The application of these principles makes possible an advance to develop an efficient system that permits us to drive easily this kind of machines.