Title :
A new method on judgement of static stability for the quadruped robot
Author :
Chen, Xuedong ; Watanabe, Keigo ; Izumi, Kiyotaka
Author_Institution :
Fac. of Eng. Syst. & Technol., Saga Univ., Japan
Abstract :
A new approach to analysis of robot stability is presented by defining the statically stable area for the foot placement. The proposed approach is applied not only to generate the free gait for a quadruped robot walking in difficult terrain, but also to judge the robot stability. The effectiveness of this method is demonstrated by a practical example
Keywords :
legged locomotion; matrix algebra; robot kinematics; stability; foot placement; free gait; quadruped robot; static stability; Control engineering; Foot; Leg; Legged locomotion; Mechanical engineering; Robot kinematics; Stability analysis; Systems engineering and theory;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.816681
