Details

Autor(en) / Beteiligte

• Chen Xin
• Lou Kunpeng
• Wu Min
• Liu Mingliang

Titel

Stability analysis on bionic quadruped robot based on the geometric model

Ist Teil von

• Proceedings of the 31st Chinese Control Conference, 2012, p.5031-5035

Ort / Verlag

IEEE

Erscheinungsjahr

2012

Link zum Volltext

• IEEE_Xplore

Quelle

IEEE Electronic Library Online

Beschreibungen/Notizen

• According to the requirement for the stability of coordination planning layer of bionic quadruped robot (BQR), this paper proposes a method to estimate the attitude of BQR based on the geometric model of robot, and uses the attitude to obtain the projection of the toe of BQR on the horizontal plane of absolute coordinate system under the walking condition. The polygon enclosed by the projection of the toe is the stability region. By analysing the relation of the polygon and the projection of centroid, we can get the stability of BQR. The numerical analysis is given to demonstrate the validity of the proposed method.