四足歩行のトロット歩容における初期姿勢が歩行安定性に与える影響
Effects of Initial Stance of Quadruped Trotting on Walking Stability
四足歩行ロボットのトロット歩容で支持対角線まわりのモーメントをモデル化し、初期姿勢の違いが歩行安定性に与える影響を解析して最適な初期姿勢を求めた論文。
著者: Dongqing He, Peisun Ma
分類: cs.RO
原文アブストラクト
It is very important for quadruped walking machine to keep its stability in high speed walking. It has been indicated that moment around the supporting diagonal line of quadruped in trotting gait largely influences walking stability. In this paper, moment around the supporting diagonal line of quadruped in trotting gait is modeled and its effects on body attitude are analyzed. The degree of influence varies with different initial stances of quadruped and we get the optimal initial stance of quadruped in trotting gait with maximal walking stability. Simulation results are presented. Keywords: quadruped, trotting, attitude, walking stability.