Abstract
Abstract An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and analyzing the gait to increase the gait stability margin while walking on a slope. First, the energy stability margin is compared according to the posture of the walking motion on a slope, Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin, including two new parameters, the joint angle and position of the vertical waist-joint, to determine the center of gravity(COG) of the body during walking. Finally, a simulation is used to demonstrate the superiority of the proposed gait algorithm.
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