Stability Analysis of Walking on the Slope  for a Quadruped Robot

doi:10.12068/j.issn.1005-3026.2018.05.014

Abstract

Abstract: The hydraulic cylinders were adopted for building the quadrupeds shins. In order to improve the locomotion stability on the slope， a mass center adjusting method by increasing the length of the rear shins and decreasing the length of the front thins was proposed. The kinematics of the quadruped robot was analyzed. The relationship between the adjustment length of the front shins and rear shins as well as the slope angle were calculated. By using Adams and Matlab， the coordinated simulation of the robot was performed. The simulation results show that the robot is capable to move steadily on the slope with trot gait. The effectiveness of adjusting the center of mass of a quadruped robot is verified.

Key words: quadruped robot, adjusting the center of mass, changes of the shin length, trot gait, stability

CLC Number:

TP242

MA Zong-li， ZHANG Pei-qiang， LYU Rong-ji， WANG Jian-ming. Stability Analysis of Walking on the Slope for a Quadruped Robot[J]. Journal of Northeastern University Natural Science, 2018, 39(5): 673-678.

References

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Stability Analysis of Walking on the Slope for a Quadruped Robot

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