Abstract
This paper deals with static stability of a four legged
robot manipulator when it moves with trot gait. In this paper,
the stability analysis based on dynamics of walking usually
proposed for the analysis of walking system studied and
identified its limits and ambiguity. After identifying the key
issues of stability, it has been identified that moment around
the supporting diagonal line of quadruped in trotting gait
largely influences walking stability. Therefore Moment around
the supporting diagonal line of quadruped in trotting gait is
modeled and its effects on body attitude (roll and pitch) 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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