Effects of Initial Stance of Quadruped Trotting on Walking Stability | Zendy

Dongqing He | Zendy; MA Pei-sun | Zendy

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Effects of Initial Stance of Quadruped Trotting on Walking Stability

Author(s) -

Dongqing He,

MA Pei-sun

Publication year - 2005

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5807

Subject(s) - gait , moment (physics) , diagonal , stability (learning theory) , computer science , preferred walking speed , physical medicine and rehabilitation , control theory (sociology) , mathematics , physics , medicine , artificial intelligence , control (management) , geometry , classical mechanics , machine learning

It is very important for quadruped walking machine to keep its stability in high speed walking. It has been indicated that moment around the supporting diagonal line of quadruped in trotting gait largely influences walking stability. In this paper, moment around the supporting diagonal line of quadruped in trotting gait is modeled and its effects on body attitude are analyzed. The degree of influence varies with different initial stances of quadruped and we get the optimal initial stance of quadruped in trotting gait with maximal walking stability. Simulation results are presented

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