The gait analysis for modular walking robot MERO walks on the slope

摘要

The performance of a legged system is closely related to the adopted gait. The main characteristic of the modular walking robots is that they are able to move away on not arranged, horizontal and rough terrain. The performance of walking robots is closely related to the adopted gait. The movement of the walking robots can be divided in two modes: - condition of the static stability; - condition of the dynamic stability. During walking, the legs move according to the wave gait and two forelegs are adjusted to avoid forbidden areas. Different methods of leg adjustments and body adjustments are integrated into the strategy. In the work are analyzed the possibilities of determination of the limit conditions for the stable displacement of the walking robots. Finally, this strategy is verified by using computer graphics simulations.