The Stability Analysis for Quadruped Bionic Robot

摘要

In order to exactly evaluate the robot stability and stability margin while walking, one general criterion is proposed, which adopts the minimal distance from supporting edge to center of pressure on ground to estimate robot walking stability. This general criterion take many condition terms in consider such as disturb force and moment, height of center of gravity, obliquity of supporting plane and mass of robot. For convenience in judge, the conception of minimal stability distance (MSD) is introduced and based on the general criterion, the shortest distance from supporting edge to the vertical projection point of robot center of gravity on ground is used to embody the general criterion mentioned above indirectly. By simulation, the relations between stability and parameters such as disturb elements, height of center of gravity, obliquity of supporting plane and mass of robot are discussed. At last, the experiment proved the effectiveness of the general criterion