1999
DOI: 10.1017/s0263574799001058
|View full text |Cite
|
Sign up to set email alerts
|

Dynamic instant gait stability measure for quadruped walking robot

Abstract: A mathematic model is developed for a quadruped walking robot to investigate the dynamic stability considering all the inertial effects in the system including those of legs. The dynamic model is derived based on Lagrange's equation using matrix-vector notations for the simpler expression. Then an instant gait stability measure is proposed to apply to dynamic gait as well as static gait. The gait stability measure is obtained from the angular momentum of the system about the supporting edges in the quadrupeda… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
3
2

Citation Types

0
17
0

Year Published

2003
2003
2020
2020

Publication Types

Select...
4
1

Relationship

0
5

Authors

Journals

citations
Cited by 15 publications
(17 citation statements)
references
References 19 publications
0
17
0
Order By: Relevance
“…Foot rotation instability measured by the FRI is a more complete measure of postural instability, but it still does not provide any information as to gait stability/instability. Another more recently introduced postural stability measure for quadrupeds uses the angular momentum about the support edges [37] to define a stability index. Like the FRI, this method can provide both directional information and a reference stability quantity that can be used to quantify system instability.…”
Section: Measures Of Stabilitymentioning
confidence: 99%
See 2 more Smart Citations
“…Foot rotation instability measured by the FRI is a more complete measure of postural instability, but it still does not provide any information as to gait stability/instability. Another more recently introduced postural stability measure for quadrupeds uses the angular momentum about the support edges [37] to define a stability index. Like the FRI, this method can provide both directional information and a reference stability quantity that can be used to quantify system instability.…”
Section: Measures Of Stabilitymentioning
confidence: 99%
“…The measure proposed in [37] is an alternative measure based on the angular momentum and it takes into consideration the momentum of the swing legs. It is however limited to quadrupedal gaits with at least two legs in contact with the ground.…”
Section: Stability Performancementioning
confidence: 99%
See 1 more Smart Citation
“…The FRI can also be extended to the quadrupedal case though other similar measures specialized to quadrupeds have been introduced. In [24], the angular momentum about the support edges was used to define a postural stability index. Like the FRI, this method provides both directional information and a reference stability quantity that can be used to quantify system instability.…”
Section: Measures Of Stabilitymentioning
confidence: 99%
“…The measure proposed in [24] is an alternative measure based on the angular momentum and it takes into consideration the momentum of the swing legs. It is however limited to gaits with at least two legs in contact with the ground.…”
Section: Stability Performancementioning
confidence: 99%