2011 | OriginalPaper | Buchkapitel
Gait and Stability Analysis of a Quadruped Robot
verfasst von : Junming Wei, Zhiguo Shi, Qiao Zhang, Jun Tu, Zhiliang Wang
Erschienen in: Advanced Research on Computer Science and Information Engineering
Verlag: Springer Berlin Heidelberg
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In the multi-legged robot research, a challenging task is to manage its walking balance. This paper presents the gait and stability analysis of a simple quadruped robot. First, a quadruped robot which consists of 15 DOFs was built up. To analyze its walking balance, we specified the straight walking gait and the turning gait in every step. A practical obstacle avoidance experiment and further stimulations demonstrate that the proposed gaits can achieve the walking stability of the quadruped robot.