Paper Title:
Normalized Energy Stability Margin Based Analysis of Omni-Directional Static Walking of a Quadruped Robot on Rough Terrain
  Abstract

With Normalized Energy Stability Margin(Sne ) as stability criterion, this paper studies the tumbles of omni-directional static walking of a quadruped robot around the line connecting two adjacent supporting legs on rough terrain, proposes the method to improve the stability of quadruped robot by increasing the (Sne ) value, which is realized by lowering the height of center of gravity(COG), and finally substantiates the feasibility of the method through a simulation experiment.

  Info
Periodical
Advanced Materials Research (Volumes 383-390)
Chapter
Chapter 30: Automation, Mechatronics and Robotics
Edited by
Wu Fan
Pages
7401-7405
DOI
10.4028/www.scientific.net/AMR.383-390.7401
Citation
L. Zhang, S. Gao, "Normalized Energy Stability Margin Based Analysis of Omni-Directional Static Walking of a Quadruped Robot on Rough Terrain", Advanced Materials Research, Vols. 383-390, pp. 7401-7405, 2012
Online since
November 2011
Authors
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Price
$32.00
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