Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot
Some imbalance and balance postures of a passive quadruped robot with a simplified mathematical model are studied. Through analyzing the influence of the touchdown angle of the rear leg on the posture of the trunk during the flight phase, the stability criterion is concluded: the closer are the two...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2015/479615 |
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| author | Chunlei Wang Ting Zhang Xiaohui Wei Yongjun Long Shigang Wang |
| author_facet | Chunlei Wang Ting Zhang Xiaohui Wei Yongjun Long Shigang Wang |
| author_sort | Chunlei Wang |
| collection | DOAJ |
| description | Some imbalance and balance postures of a passive quadruped robot with a simplified mathematical model are studied. Through analyzing the influence of the touchdown angle of the rear leg on the posture of the trunk during the flight phase, the stability criterion is concluded: the closer are the two moments which are the zero time of the pitching angle and the peak time of the center of mass, the better is the stability of the trunk posture during the flight phase. Additionally, the validity of the stability criterion is verified for the cat, greyhound, lion, racehorse, basset hound, and giraffe. Furthermore, the stability criterion is also applicable when the center of the mass of body is shifted. Based on the stability criterion, the necessary and sufficient condition of the galloping stability for the quadruped robot is proposed to attain a controlled thrust. The control strategy is designed by an optimization dichotomy algorithm for seeking the zero point of the balance condition. Through the control results, it is demonstrated that the imbalance posture of the trunk could be stabilized by adjusting the stiffness of four legs. |
| format | Article |
| id | doaj-art-5aa963f30e714758b64cdf07d08eef53 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-5aa963f30e714758b64cdf07d08eef532025-02-03T06:47:24ZengWileyApplied Bionics and Biomechanics1176-23221754-21032015-01-01201510.1155/2015/479615479615Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped RobotChunlei Wang0Ting Zhang1Xiaohui Wei2Yongjun Long3Shigang Wang4The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, ChinaCollege of Mechanical Engineering, Shanghai University of Engineering Science, Shanghai 200030, ChinaThe State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, ChinaThe State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, ChinaThe State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, ChinaSome imbalance and balance postures of a passive quadruped robot with a simplified mathematical model are studied. Through analyzing the influence of the touchdown angle of the rear leg on the posture of the trunk during the flight phase, the stability criterion is concluded: the closer are the two moments which are the zero time of the pitching angle and the peak time of the center of mass, the better is the stability of the trunk posture during the flight phase. Additionally, the validity of the stability criterion is verified for the cat, greyhound, lion, racehorse, basset hound, and giraffe. Furthermore, the stability criterion is also applicable when the center of the mass of body is shifted. Based on the stability criterion, the necessary and sufficient condition of the galloping stability for the quadruped robot is proposed to attain a controlled thrust. The control strategy is designed by an optimization dichotomy algorithm for seeking the zero point of the balance condition. Through the control results, it is demonstrated that the imbalance posture of the trunk could be stabilized by adjusting the stiffness of four legs.http://dx.doi.org/10.1155/2015/479615 |
| spellingShingle | Chunlei Wang Ting Zhang Xiaohui Wei Yongjun Long Shigang Wang Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot Applied Bionics and Biomechanics |
| title | Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot |
| title_full | Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot |
| title_fullStr | Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot |
| title_full_unstemmed | Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot |
| title_short | Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot |
| title_sort | dynamic imbalance analysis and stability control of galloping gait for a passive quadruped robot |
| url | http://dx.doi.org/10.1155/2015/479615 |
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