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1、Proceedingsofthe2006IEEE/RSJInternationalConferenceonIntelligentRobotsandSystemsOctober9-15,2006,Beijing,ChinaTheStabilityAnalysisforQuadrupedBionicRobotPengfeiWangLiningSunRoboticsInstituteRoboticsInstituteHarbinInstituteofTechnologyHarbinInstituteofTechnologyHarbin,ChinaHarbin,ChinaE-mail:wpf
2、hustgsohu.comliningsunghit.edu.cnAbstract-Inordertoexactlyevaluatetherobotstabilityandriskoftippingover.Furthermore,theshortesthorizontalstabilitymarginwhilewalking,onegeneralcriterionisproposed,distanceisonlyapproximatewhenwalkinginuneventerrain.whichadoptstheminimaldistancefromsupportingedget
3、oMessuri,andKlein(1985)proposedtheenergystabilitycenterofpressureongroundtoestimaterobotwalkingstability.margin(ESM)[9],whichisbasedontheminimumamountofThisgeneralcriteriontakemanyconditiontermsinconsiderworkrequiredtotiptherobotoveranedgeofthesupportsuchasdisturbforceandmoment,heightofcenterof
4、gravity,area.TheESMisafunctionoftheheight,thedistancetotheobliquityofsupportingplaneandmassofrobot.Forconvenienceinjudge,theconceptionofminimalstabilitydistance(MSD)isedge,andtheweightoftherobot,whichneglectdisturbintroducedandbasedonthegeneralcriterion,theshortestelements.Papadopoulos,andRey(1
5、996)proposedadifferentdistancefromsupportingedgetotheverticalprojectionpointofapproach,calledtheforce-anglestabilitymargin["1].Thisrobotcenterofgravityongroundisusedtoembodythegeneralmeasureisbasedonthemagnitudeoftheresultantforcecriterionmentionedaboveindirectly.Bysimulation,therelationsacting
6、ontheCoG,andbetweenstabilityandparameterssuchasdisturbelements,theangleitmakeswiththeshortestlineconnectingtheedgeheightofcenterofgravity,obliquityofsupportingplaneandandtheCoG.Iftheangleiszerotheresultantforceispointingmassofrobotarediscussed.Atlast,theexperimentprovedtheattheedge,meaningthato
7、nlythetwofeetformingtheedgeeffectivenessofthegeneralcriterion.aresupportingtheforcesactingontherobot.Thismeasurealsoneglectdisturbelementsandheightofcenterofgravity.IndexTerms-quadrupedrobot;centerofpressure;stability;stabilitymar
