Normalized Energy Stability Margin Based Analysis of Omni-Directional Static Walking of a Quadruped Robot on Rough Terrain

Abstract

With Normalized Energy Stability Margin(S ne ) as stability criterion, this paper studies the tumbles of omni-directional static walking of a quadruped robot around the line connecting two adjacent supporting legs on rough terrain, proposes the method to improve the stability of quadruped robot by increasing the (S ne ) value, which is realized by lowering the height of center of gravity(COG), and finally substantiates the feasibility of the method through a simulation experiment.