HE Dong-qing, MA Pei-sun, CAO Xi, CAO Chong-zhen, YU Hui-tao. Impact of Initial Stance of Quadruped Trotting on Walking Stability[J]. ROBOT, 2004, 26(6): 529-532,537.
Citation: HE Dong-qing, MA Pei-sun, CAO Xi, CAO Chong-zhen, YU Hui-tao. Impact of Initial Stance of Quadruped Trotting on Walking Stability[J]. ROBOT, 2004, 26(6): 529-532,537.
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Impact of Initial Stance of Quadruped Trotting on Walking Stability

    Abstract
  • Moment around the supporting axis of quadruped trotting is modeled and its impact on body attitude is analyzed in this paper. A new method called Trichotomy is put forward which uses the initial stance to minimize the impact of the moment on body attitude.
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