2005/11/18 by Dongqing He, He, Dongqing, MA Pei-sun +2
Computer Science · Engineering · Medicine · #FOS: Computer and information sciences #Injury Epidemiology and Prevention #Robotic Locomotion and Control #Robotics (cs.RO) #Winter Sports Injuries and Performance #cs.RO
paper · pdf · doi:10.48550/arxiv.cs/0511067
arxiv created 2005/11/18 · openalex publication_date 2005/11/18 · arxiv updated 2009/12/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.