四足机器人对角小跑起步姿态对稳定步行的影响

Impact of Initial Stance of Quadruped Trotting on Walking Stability

摘要: 对四足机器人对角小跑步态下绕支撑对角线的翻转力矩建立了力学模型，分析了该力矩对机器人运动姿态及稳定步行的不利影响，并提出了利用起步姿态来削弱翻转力矩不利影响的方法——三分法．

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.