|
Chen Xuedong
School
of Mechanical Science
and Engineering,
Huazhong University of Science
and Technology,
Wuhan 430074, China |
|
|
NOVEL FORMULATION OF STATIC
STABILITY FOR A WALKING
QUADRUPED ROBOT*
Abstract: By defining the static stable area for foot placement, a new approach to analysis of quadruped robot stability is presented. Unlike conventionally, the method avoids solving complicated direct kinematics of quadruped robot and shows the information on the robot stability and the selection of swing leg. Especially, the proposed algorithm can be used as real-time operation for on-line gait generation and control for quadruped robots. The effectiveness of the proposed approach is shown through a practical crawling experiment of the quadruped robot TITAN-VIII.
Key words:
Quadruped robot Static
stability Gait generation |