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http://dx.doi.org/10.5391/IJFIS.2013.13.2.100

Analysis of Balance of Quadrupedal Robotic Walk using Measure of Balance Margin  

Kim, Byoung-Ho (Biomimetics and Intelligent Robotics Lab., Department of Mechatronics Engineering, Kyungsung University)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.13, no.2, 2013 , pp. 100-105 More about this Journal
Abstract
In this study, we analyze the balance of quadruped walking robots. For this purpose, a simplified polygonal model of a quadruped walking configuration is considered. A boundary-range-based balance margin is used for determining the system stability of the polygonal walking configuration considered herein. The balance margin enables the estimation of the walking configuration's balance for effective walking. The usefulness of the balance margin is demonstrated through exemplary simulations. Furthermore, balance compensation by means of foot stepping is addressed.
Keywords
Quadruped robotic walking; Balance margin; Balance compensation; Foot stepping;
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Times Cited By KSCI : 3  (Citation Analysis)
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