Increasing the locomotive stability margin of multilegged vehicles

Fan-Tien Cheng, Hao Lun Lee, David E. Orin

研究成果: Conference article同行評審

14 引文 斯高帕斯(Scopus)


An essential consideration in the development of any control algorithm for a multilegged vehicle is the ability to maintain stability. In this research, we propose to include the vehicle body sway motion into the motion planning of a quadruped's wave gaits such that its stability margin can be substantially increased. Two sway motions are proposed: Y-Sway and E-Sway. The Y-Sway motion is simple, which drives the center of gravity (CG) of the vehicle to approach to the y-component of the geometric center of the contact points of the supporting legs. The E-Sway motion drives CG to approach to the desired CG locus for considering equal energy stability levels. Both sway motions are reasonably easy to implement. Between them, the E-Sway can achieve better stability margin. When sloped terrains are encountered, body tilt is also considered in the initialization phase to improve the stability margin. Simulation results show that the body sway motions and tilt consideration are not mutually exclusive. Therefore, we may combine both actions to further increase the stability margin.

頁(從 - 到)1708-1714
期刊Proceedings - IEEE International Conference on Robotics and Automation
出版狀態Published - 1999 1月 1
事件Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
持續時間: 1999 5月 101999 5月 15

All Science Journal Classification (ASJC) codes

  • 軟體
  • 控制與系統工程
  • 人工智慧
  • 電氣與電子工程


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