Improving the stability of gait planning for quadruped robots

In this paper the stability of gait planning for the quadruped robot in flat surface is considered, and the effects of planning parameters on the stability of the robot have been examined. Continuous trajectory for the body in forward direction has been derived. The study demonstrates that adding periodic longitudinal (PLON) body motion back and forth and periodic lateral (PLAT) body motion left and right improved the stability margin. Finally this approaches were tested on the TMUBot quadruped, and the results show significant improvement in the robot.