Abstract: The characteristics of design and hierarchical structure of control system of an omnidirectional quadruped legged robot QW-Ⅰare introduced. The emphasis is put on implementing omnidirectional walking by a kind of periodic gaits. An approaching method is presented to realize the walking by a kind of periodic gaits. An approaching method is presented to realize the walking by a kind of periodic gaits. An approaching method is presented to realize the walking along a given path using the combination of crab gal with gait transition as well as the local regulation of legs. The prototype of QW-Ⅰ has been developed and some walking experiments were carried out.

Key words: 步行机器人, 控制, 运动