Non-Tumbling Gait and directional normalized energy stability margin

Abstract

Abstract Locomotion safety is suggested to be an intrinsic property of any multi-legged system, and a concept of Non-Tumbling Gaitis proposed. Also, a new approach, denoted as DNESM , to estimation of stability of multi-legged robots is suggested. The relationship between direction of the destabilizing force (e.g. strong sidewind, or any other kind of impact) influencing the robot, and stability margin is studied. Additionally, new stability margin is calculated in a simulation and validated experimentally. Simulation results correspond well with the results of experimental validation. Keywords: multi-legged locomotionwalking robotstability marginNon-Tumbling Gaitdirectional stability