Static Stability Analysis for Gait Control of a Quardruped Walking Robot

사각보행로보트의 걸음새 제어를 위한 정적 안정도 해석

The problem of controlling static gaits for a quadruped walking robot is investigated. A theoretical approach to gait study is proposed in which the static stability margins for periodic gaits are expressed in terms of the kinematic gait formula. The effects fo the stride length on static stability are analyzed and the relations between static stability and initial body configurations are examined. It is shown that the moving velocity can be increased to some extent without affecting stability margins for a given initial body configuration. Computer simulations are performed to verify the analysis.