Dynamic instant gait stability measure for quadruped walking robot

Content Provider	Scilit
Author	Koo, Tae-Wan Yoon, Yong-San
Copyright Year	1999
Description	A mathematic model is developed for a quadruped walking robot to investigate the dynamic stability considering all the inertial effects in the system including those of legs. The dynamic model is derived based on Lagrange's equation using matrix-vector notations for the simpler expression. Then an instant gait stability measure is proposed to apply to dynamic gait as well as static gait. The gait stability measure is obtained from the angular momentum of the system about the supporting edges in the quadrupedal gait of +x type. The validity of the gait stability measure is examined along with the gait stability analysis for several representative gait parameters using the developed dynamic model.
Related Links	https://www.cambridge.org/core/services/aop-cambridge-core/content/view/631B5E6EF08D4F9EA1BE670E7E9AB2F7/S0263574799001058a.pdf/div-class-title-dynamic-instant-gait-stability-measure-for-quadruped-walking-robot-div.pdf
Ending Page	70
Page Count	12
Starting Page	59
ISSN	02635747
e-ISSN	14698668
DOI	10.1017/s0263574799001058
Journal	Robotica
Issue Number	1
Volume Number	17
Language	English
Publisher	Cambridge University Press (CUP)
Publisher Date	1999-01-01
Access Restriction	Open
Subject Keyword	Robotica Quadruped Walking Robot Dynamic Model Gait Stability Measure Angular Momentum About a Line
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software