TY - GEN
T1 - The stability analysis for quadruped bionic robot
AU - Pengfei, Wang
AU - Lining, Sun
PY - 2006
Y1 - 2006
N2 - In order to exactly evaluate the robot stability and stability margin while walking, one general criterion is proposed, which adopts the minimal distance from supporting edge to center of pressure on ground to estimate robot walking stability. This general criterion take many condition terms in consider such as disturb force and moment, height of center of gravity, obliquity of supporting plane and mass of robot. For convenience in judge, the conception of minimal stability distance(MSD) is introduced and based on the general criterion, the shortest distance from supporting edge to the vertical projection point of robot center of gravity on ground is used to embody the general criterion mentioned above indirectly. By simulation, the relations between stability and parameters such as disturb elements, height of center of gravity, obliquity of supporting plane and mass of robot are discussed. At last, the experiment proved the effectiveness of the general criterion.
AB - In order to exactly evaluate the robot stability and stability margin while walking, one general criterion is proposed, which adopts the minimal distance from supporting edge to center of pressure on ground to estimate robot walking stability. This general criterion take many condition terms in consider such as disturb force and moment, height of center of gravity, obliquity of supporting plane and mass of robot. For convenience in judge, the conception of minimal stability distance(MSD) is introduced and based on the general criterion, the shortest distance from supporting edge to the vertical projection point of robot center of gravity on ground is used to embody the general criterion mentioned above indirectly. By simulation, the relations between stability and parameters such as disturb elements, height of center of gravity, obliquity of supporting plane and mass of robot are discussed. At last, the experiment proved the effectiveness of the general criterion.
KW - Center of pressure
KW - Quadruped robot
KW - Stability
KW - Stability margin
UR - https://www.scopus.com/pages/publications/34250676603
U2 - 10.1109/IROS.2006.281665
DO - 10.1109/IROS.2006.281665
M3 - 会议稿件
AN - SCOPUS:34250676603
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5238
EP - 5242
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -