• DocumentCode
    3476803
  • 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
  • Volume
    6
  • fYear
    1999
  • fDate
    1999
  • Firstpage
    953
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
  • Conference_Location
    Tokyo
  • ISSN
    1062-922X
  • Print_ISBN
    0-7803-5731-0
  • Type

    conf

  • DOI
    10.1109/ICSMC.1999.816681
  • Filename
    816681
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3476803