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

Abstract:

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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)

Edited by:

Wu Fan

Pages:

7401-7405

DOI:

10.4028/www.scientific.net/AMR.383-390.7401

Citation:

L. Zhang and 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

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Price:

$35.00

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