Abstract
A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility. In general, quadruped robots have three main periodic gaits: creeping gait, running gait and galloping gait. The main problem of the quadruped robot during walking is the needing to be statically stable for slow gaits such as creeping gait. The statically stable walking as a condition depends on the stability margins that calculated particularly for this gait. In this paper, the creeping gait sequence analysis of each leg step during the swing and fixed phases has been carried out. The calculation of the minimum stability margins depends upon the forward and inverse kinematic models for each 3-DOF leg and depends on vertical geometrical projection during walking. Simulation and results verify the stability insurance after calculation the minimum margins which indicate clearly the robot COG (Center of Gravity) inside the supporting polygon resulted from the leg-tips.
Highlights
Leg-based walking systems utilization has turned out to be very familiar with the robotics field
The analysis of the stability margins at this period is showing in Figure (8-b) as: 1 11
The analysis of the stability margins at this period is showing in Figure (9-b) as:
Summary
Leg-based walking systems utilization has turned out to be very familiar with the robotics field. The statically stable gait is simpler and slower contrasted with dynamic gaits It indicates that the COG projection of quadruped robot is on the ground at instance time is inside support polygon during the walking. Among these properties, the quadruped robot meets the necessity of both force and moment adjustment during the walking gait and here the quadruped robot is said to be statically stable. The quadruped robot meets the necessity of both force and moment adjustment during the walking gait and here the quadruped robot is said to be statically stable Dynamic gaits such as the trotting gait [11] aim to the reality that if the COG projection of the quadruped robot on the ground is not inside the support polygon framed by the leg tips. These stride lines are situated in the longitudinal direction to fulfill the condition of forwarding walk
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