New method on judgement of static stability for the quadruped robot

Xuedong Chen, Keigo Watanabe, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A new approach on analysis of the robot stability is presented by defining the statically stable area for the foot placement. The proposed approach is applied not only to generate the free gait for a quadruped robot walking in the difficult terrain, but also to judge the robot stability. The effectiveness of this method is demonstrated by a practical example.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Systems, Man and Cybernetics
PublisherIEEE
Volume6
Publication statusPublished - 1999
Externally publishedYes
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: Oct 12 1999Oct 15 1999

Other

Other1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics'
CityTokyo, Jpn
Period10/12/9910/15/99

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Robots

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

Cite this

Chen, X., Watanabe, K., & Izumi, K. (1999). New method on judgement of static stability for the quadruped robot. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (Vol. 6). IEEE.

New method on judgement of static stability for the quadruped robot. / Chen, Xuedong; Watanabe, Keigo; Izumi, Kiyotaka.

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 6 IEEE, 1999.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Chen, X, Watanabe, K & Izumi, K 1999, New method on judgement of static stability for the quadruped robot. in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. vol. 6, IEEE, 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics', Tokyo, Jpn, 10/12/99.
Chen X, Watanabe K, Izumi K. New method on judgement of static stability for the quadruped robot. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 6. IEEE. 1999
Chen, Xuedong ; Watanabe, Keigo ; Izumi, Kiyotaka. / New method on judgement of static stability for the quadruped robot. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 6 IEEE, 1999.
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