ENERGY STABILITY OF A SIX-LEGGED WALKING ROBOT

GAN Jianguo, GAN Dongying. ENERGY STABILITY OF A SIX-LEGGED WALKING ROBOT[J]. ROBOT, 1990, 12(3): 13-17.

Citation:

GAN Jianguo, GAN Dongying. ENERGY STABILITY OF A SIX-LEGGED WALKING ROBOT[J]. ROBOT, 1990, 12(3): 13-17.

Citation:

GAN Jianguo, GAN Dongying. ENERGY STABILITY OF A SIX-LEGGED WALKING ROBOT[J]. ROBOT, 1990, 12(3): 13-17.

Abstract

This paper discusses the energy stability method of a six-legged walking robot in detail, gives and proves ageneral formula for caculating its energy stability margin. The energy stability of six-legged laterally-walking andlongitudianlly-walking robots with triped gait is analysed and a comparison between the energy stability methodand geometry stability method is given.

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