New method on judgement of static stability for the quadruped robot

Xuedong Chen, Keigo Watanabe, Kiyotaka Izumi

Research output: Contribution to journalConference article

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
Pages (from-to)VI-953 - VI-958
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume6
Publication statusPublished - Dec 1 1999
Externally publishedYes
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: Oct 12 1999Oct 15 1999

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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