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

Lei Zhang; Shan Gao

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

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 383-390Normalized Energy Stability Margin Based Analysis...

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

Abstract:

With Normalized Energy Stability Margin(S_ne ) 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 (S_ne ) 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.

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Periodical:

Advanced Materials Research (Volumes 383-390)

Pages:

7401-7405

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.383-390.7401

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Online since:

November 2011

Authors:

Lei Zhang, Shan Gao

Keywords:

Normalized Energy Stability, Omni-Direction, Quadruped Robot, Rough Terrain, Static

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