Abstract
Dynamic-stability criteria are crucial for robot’s motion planning and balance recovery. Nevertheless, few studies focus on the motion stability of quadruped robots with dynamic gait, none of which have accurately evaluated the robots’ stability. To fill the gaps in this field, this paper presents a new stability criterion for the motion of quadruped robots with dynamic gaits running over irregular terrain. The traditional zero-moment point (ZMP) is improved to analyze the motion on irregular terrain precisely for dynamic gaits. A dynamic-stability criterion and measurement are proposed to determine the stability state of the robot and to evaluate its stability. The simulation results show the limitations of the existing stability criteria for dynamic gaits and indicate that the criterion proposed in this paper can accurately and efficiently evaluate the stability of a quadruped robot using such gaits.
Highlights
Legged robots that imitate animals have flexible joints and interact with the ground intermittently through their feet, giving them excellent environmental adaptability, which makes them suitable for working in complex environments such as mountains, disaster sites, and warehouses
Fukuoka and Kimura proposed a stability criterion named wide stability margin (WSM) [6]. They hypothesized that a robot can maintain its balance if the projection of the center of mass (CoM) of the body is within the support polygon formed by the projection of the current support and swing feet on the horizontal plane; the shortest distance from this projection
The results indicate that the proposed stability criterion and measure can efficiently and accurately evaluate the stability of a quadruped robot using dynamic gaits
Summary
Legged robots that imitate animals have flexible joints and interact with the ground intermittently through their feet, giving them excellent environmental adaptability, which makes them suitable for working in complex environments such as mountains, disaster sites, and warehouses. When considering the dynamic motion of legged robots, one must pay attention to their stability. Researchers have proposed a variety of static- and dynamic-stability-analysis methods to evaluate the stability of legged robot. The static-stability criteria and margins are only applicable for analyzing low-speed static gaits rather than the dynamic motion because they do not consider inertial forces or external impacts [5]. Fukuoka and Kimura proposed a stability criterion named wide stability margin (WSM) [6]. They hypothesized that a robot can maintain its balance if the projection of the center of mass (CoM) of the body is within the support polygon formed by the projection of the current support and swing feet on the horizontal plane; the shortest distance from this projection
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