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Open AccessArticle

Stability Criterion for Dynamic Gaits of Quadruped Robot

1
School of Mechanical Engineering, Beijing Institute of Technology, No. 5 Zhongguancun South Street, Haidian District, Beijing 100081, China
2
School of Computer Science & Technology, Beijing Institute of Technology, No. 5 Zhongguancun South Street, Haidian District, Beijing 100081, China
3
School of Mechatronical Engineering, Beijing Institute of Technology, No. 5 Zhongguancun South Street, Haidian District, Beijing 100081, China
*
Author to whom correspondence should be addressed.
Appl. Sci. 2018, 8(12), 2381; https://doi.org/10.3390/app8122381
Received: 25 October 2018 / Revised: 21 November 2018 / Accepted: 22 November 2018 / Published: 25 November 2018
(This article belongs to the Special Issue Advanced Mobile Robotics)
Dynamic-stability criteria are crucial for robot’s motion planning and balance recovery. Nevertheless, few studies focus on the motion stability of quadruped robots with dynamic gait, none of which have accurately evaluated the robots’ stability. To fill the gaps in this field, this paper presents a new stability criterion for the motion of quadruped robots with dynamic gaits running over irregular terrain. The traditional zero-moment point (ZMP) is improved to analyze the motion on irregular terrain precisely for dynamic gaits. A dynamic-stability criterion and measurement are proposed to determine the stability state of the robot and to evaluate its stability. The simulation results show the limitations of the existing stability criteria for dynamic gaits and indicate that the criterion proposed in this paper can accurately and efficiently evaluate the stability of a quadruped robot using such gaits. View Full-Text
Keywords: quadruped robot; stability criterion; dynamic gait quadruped robot; stability criterion; dynamic gait
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MDPI and ACS Style

Jia, Y.; Luo, X.; Han, B.; Liang, G.; Zhao, J.; Zhao, Y. Stability Criterion for Dynamic Gaits of Quadruped Robot. Appl. Sci. 2018, 8, 2381.

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