Abstract
This paper presents a dynamic stability analysis method for a trotting quadruped robot on unknown rough terrains, which is based on the Lyapunov theory of a switching system. Firstly, the dynamical...
Highlights
Trotting quadruped robots have been investigated by many researchers in the past few decades
With the proposed contact force distribution/control strategy, the dynamic stability of the trotting quadruped robot is analysed based on a common Lyapunov function
While the Left Rear (LR) leg and the Right Front (RF) leg are in the stance phase, and the RR leg and the Left Front (LF) leg are in the swing phase, the dynamical model of the body can be described via the following equations: M% 21,5*5&q%&21,5*1
Summary
Trotting quadruped robots have been investigated by many researchers in the past few decades. If the Center of Pressure (CoP) is inside the support polygon, the robot is statically stable [5] Kalakrishnan and his collea‐ gues proposed a trajectory generation based on CoP in order to achieve locomotion over rough terrains [6]. Based on the gait characteristics, the trotting quadruped robot is a nonlinear switching system with a fixed switch‐ ing cycle. With the proposed contact force distribution/control strategy, the dynamic stability of the trotting quadruped robot is analysed based on a common Lyapunov function. This paper is organized as follows: Section 2 is devoted to building the dynamical model of the trotting quadruped robot and explaining its statically unstable characteristics.
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