Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot

Joint Authors

Zhang, Ting
Wang, Chunlei
Wei, Xiaohui
Long, Yongjun
Wang, Shigang

Source

Applied Bionics and Biomechanics

Issue

Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-17, 17 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2015-06-21

Country of Publication

Egypt

No. of Pages

17

Main Subjects

Biology

Abstract EN

Some imbalance and balance postures of a passive quadruped robot with a simplified mathematical model are studied.

Through analyzing the influence of the touchdown angle of the rear leg on the posture of the trunk during the flight phase, the stability criterion is concluded: the closer are the two moments which are the zero time of the pitching angle and the peak time of the center of mass, the better is the stability of the trunk posture during the flight phase.

Additionally, the validity of the stability criterion is verified for the cat, greyhound, lion, racehorse, basset hound, and giraffe.

Furthermore, the stability criterion is also applicable when the center of the mass of body is shifted.

Based on the stability criterion, the necessary and sufficient condition of the galloping stability for the quadruped robot is proposed to attain a controlled thrust.

The control strategy is designed by an optimization dichotomy algorithm for seeking the zero point of the balance condition.

Through the control results, it is demonstrated that the imbalance posture of the trunk could be stabilized by adjusting the stiffness of four legs.

American Psychological Association (APA)

Wang, Chunlei& Zhang, Ting& Wei, Xiaohui& Long, Yongjun& Wang, Shigang. 2015. Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot. Applied Bionics and Biomechanics،Vol. 2015, no. 2015, pp.1-17.
https://search.emarefa.net/detail/BIM-1052179

Modern Language Association (MLA)

Wang, Chunlei…[et al.]. Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot. Applied Bionics and Biomechanics No. 2015 (2015), pp.1-17.
https://search.emarefa.net/detail/BIM-1052179

American Medical Association (AMA)

Wang, Chunlei& Zhang, Ting& Wei, Xiaohui& Long, Yongjun& Wang, Shigang. Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot. Applied Bionics and Biomechanics. 2015. Vol. 2015, no. 2015, pp.1-17.
https://search.emarefa.net/detail/BIM-1052179

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1052179