Normalized energy stability margin and its contour of walking vehicles on rough terrain

2002 ◽  
Author(s):  
S. Hirose ◽  
H. Tsukagoshi ◽  
K. Yoneda
Keyword(s):  
Stability Margin ◽  
Energy Stability ◽  
Rough Terrain

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.

scholarly journals Dynamic Rocker-Bogie: Kinematical Analysis in a High-Speed Traversal Stability Enhancement

2016 ◽  
Vol 2016 ◽  
pp. 1-8 ◽  
Author(s):  
Sunxin Wang ◽  
Yan Li
Keyword(s):  
High Speed ◽  
Stability Margin ◽  
Suspension System ◽  
Rough Terrain ◽  
Operating Modes ◽  
Uneven Terrain ◽  
Major Shortcoming ◽  
Stability Enhancement ◽  
Travel Rate ◽  
Original Configuration

The rocker-bogie suspension system has robust capabilities to deal with uneven terrain because of its distributing of the payload over its six wheels uniformly, while there is one major shortcoming to high-speed traversal over the planar terrain. This paper proposes a new dynamic rocker-bogie suspension system with two modes of operation: it can expand the span of the rocker-bogie support polygon to increase travel rate when the terrain is planar; and it can switch to its original configuration to move by low speed when it is faced with rough terrain. The analysis on dynamic stability margin and kinematical simulation on the two operating modes of rocker-bogie are employed to analyze and verify the rationality and effectiveness of the modification in the structure.

scholarly journals Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-10
Author(s):  
Evgeny Lazarenko ◽  
Satoshi Kitano ◽  
Shigeo Hirose ◽  
Gen Endo
Keyword(s):  
Stability Criterion ◽  
External Disturbance ◽  
Stability Margin ◽  
Energy Stability ◽  
Dynamic Walking ◽  
Walking Robot ◽  
Gait Control

This paper discusses the importance of a nontumbling gait, a gait that allows preventing complete tumbling of the robot. Nontumbling gait is made possible by the effect of the swing leg which may contact the ground even when the robot is affected by an external disturbance. Such an effect is present in both static walking and dynamic walking. Stability criterion required to maintain the nontumbling gait is then considered and proposed through generalized directional normalized energy stability margin. The validity of the introduced criterion is evaluated by a tumbling experiment with a simplified walking robot model. The concept is also applied to the gait control of the newly developed walking robot TITAN-XIII.

Non-Tumbling Gait and directional normalized energy stability margin

2013 ◽  
Vol 27 (15) ◽  
pp. 1137-1145 ◽  
Author(s):  
Shigeo Hirose ◽  
Evgeny Lazarenko ◽  
Gen Endo
Keyword(s):  
Stability Margin ◽  
Energy Stability
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