Stable quadrupedal running based spring-loaded two-segment legged on a model

摘要

In this paper, we employed a conservative spring-loaded two-segment legged model to test the effect of passive dynamics on running stability. By numerical return map studies, we investigated system stability and discovered that passive generation of a large variety of cyclic jumping motion on the legged model is possible. The results of this study indicated that the dynamics of suitable mechanical system could significantly alone improve the stability of legged running and suggest that swing phase dynamics may play an important role in adjustment of forward velocity and apex height. Moreover, we used the spring-loaded two segment legged model as a template to construct a simplified model of our Tekken I quadruped robot on numerical simulation. Using the constructed simulator to investigate the quadruped robot system stability, we proposed a simple control method for quadrupedal bounding and verified its effectiveness. In addition, our studies relating to passive dynamics of quadruped robot might help to understand the reliable stability and remarkable maneuverability on our experimental robot.