Movement stability criterion and its application to gait planning of a quadruped robot

2016 ◽  
Author(s):  
Liang Huang ◽  
Guisen Guan ◽  
Wenfu Xu
Keyword(s):  
Stability Criterion ◽  
Quadruped Robot ◽  
Gait Planning ◽  
Movement Stability

A FREE GAIT PLANNING METHOD BASED ON THE FOOTHOLD SEARCH STRATEGY FOR QUADRUPED ROBOT

2015 ◽  
Author(s):  
SHUAISHUAI ZHANG ◽  
YIBIN LI ◽  
RUI SONG ◽  
XUEWEN RONG ◽  
BIN LI
Keyword(s):  
Search Strategy ◽  
Quadruped Robot ◽  
Planning Method ◽  
Gait Planning

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

2011 ◽  
Vol 383-390 ◽  
pp. 7401-7405
Author(s):  
Lei Zhang ◽  
Shan Gao
Keyword(s):  
Stability Criterion ◽  
Simulation Experiment ◽  
Stability Margin ◽  
Quadruped Robot ◽  
Center Of Gravity ◽  
Energy Stability ◽  
Rough Terrain ◽  
The Stability

With Normalized Energy Stability Margin(Sne ) 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 (Sne ) 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.

Development of the Gait Planning for Stability Movement on Quadruped Robot

2019 ◽  
Author(s):  
Giffar Aji Prasetyo ◽  
Andre Faqih Ilham Suparman ◽  
Zikri Nasution ◽  
Eko Henfri Binugroho ◽  
Adytia Darmawan
Keyword(s):  
Quadruped Robot ◽  
Gait Planning

scholarly journals Static Gait Planning Method for Quadruped Robot Walking on Unknown Rough Terrain

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 177651-177660 ◽  
Author(s):  
Shuaishuai Zhang ◽  
Ming Liu ◽  
Yanfang Yin ◽  
Xuewen Rong ◽  
Yibin Li ◽  
...  
Keyword(s):  
Quadruped Robot ◽  
Planning Method ◽  
Rough Terrain ◽  
Gait Planning
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