Normalized Energy Stability Margin Based Analysis of Omni-directional Static Walking of a Quadruped Robot on Rough Terrain

被引：2
|
作者：
Zhang, Lei [1 ]
Gao, Shan [2 ]
机构：
[1] Ocean Univ China, Dept Engn, Qingdao, Peoples R China
[2] Qingdao Tech Coll, Dept Software & Serv Outsourcing, Qingdao, Peoples R China
来源：
MANUFACTURING SCIENCE AND TECHNOLOGY, PTS 1-8 | 2012年 / 383-390卷
关键词：
Normalized Energy Stability; Omni-Direction; Quadruped Robot; Rough Terrain; Static;
D O I：
10.4028/www.scientific.net/AMR.383-390.7401
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
With Normalized Energy Stability Margin((S)(ne)) as stability criterion, this paper studies the tumbles of omni-directional static walking of a quadruped robot around the line connecting two adjacent supporting legs on rough terrain, proposes the method to improve the stability of quadruped robot by increasing the (S)(ne) value, which is realized by lowering the height of center of gravity(COG), and finally substantiates the feasibility of the method through a simulation experiment.
引用
收藏
页码：7401 / +
页数：2
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