Investigating Stability Outcomes Across Diverse Gait Patterns in Quadruped Robots: A Comparative Analysis

摘要

Quadruped robots have gained attention for their potential to navigate various terrains. However, the stability of these robots in different gait sequences remains an open question. This study investigates the relationship between different gait sequences and the motion stability of quadruped robots, assuming a flat terrain for the purpose of the analysis. Utilizing mathematical models based on spiral theory, we examine the stability margins associated with different leg movement sequences. Notably, our findings confirm that the most commonly observed sequence in both natural and robotic contexts indeed offers optimal stability. The study also scrutinizes the influence of the robot's structural parameters and gait configuration on its motion stability. These results provide a theoretical foundation for the design and stability control of quadruped robots, setting the stage for future work on more complex terrains.