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
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