Quadruped Robot Creeping Gait Stability Analysis and Optimization Using PSO

The potential ability of the quadruped (four-legged) robot locomotion has been used for many different applications such as walking over soft and rough terrains. These applications are needed to grantee the mobility and flexibility. Generally, quadruped robots have three main periodic gaits: creeping gait, running gait and galloping gait. The stability criteria is the main problem of the quadruped robot during walking with a slow motion gait such as creeping gait. The static stability gait is completely depends on the stability margins during the walking which have been calculated in this paper. The quadruped robot kinematic model of the forward and inverse kinematics for each 3-DOF leg has been calculated which leading to find the minimum stability margins during walking on the vertical geometrical projection of the robot body. These margins are needed to be optimized for achieving the best stability margin during the robot walking.in this paper we using the PSO optimization algorithm to find the best value of the stability margin. Simulation and results verify the stability margin range values and the optimized results.