ON THE DYNAMIC MEASURING OF STABILITY MARGIN OF LEGGED LOCOMOTION
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摘要: 本文分析了步行机器人中现有的两类稳定裕度的度量方法.给出了一种既考虑步行机构及支撑地形特点,又考虑步行速度因素影响的动态度量方法——机械能稳定裕度度量.Abstract: A brief discussion and comparison on the existing methods of measuring the stability margin on legged loco-motion is given in this paper.Based on these methods,an improved and dynamic measuring criterion,i.e.the mechanical energy stability margin,is presented.The new criterion of measuring takes into account boththe characteristics of supporting ground and the dynamic effects of walking velocity on legged robot.The newmeasuring is of great importance to the researches on dynamic walking.
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Keywords:
- legged robot /
- stability margin /
- dynamic walking
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[1] McGhee R B, Frank A A. On the stability of quadruped creeping gaits. Mathematical Biosciences, 19681.3(3),331-351 [2] McGhee R B, Iswandhi G I. Adaptive locomotion of a multilegged robot over rough terrain. IEEE Trans Syat. Man. Cybern, 19791 SMC-9(4),176-182 [3] Messuri D A. Klein C A. Automatic body regulation for maintaining stability of a legged vehicle during-rough-terrain locomotion. IEEE 1 of Robotics and Automation. ,19861 RA-1(3)
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