Synchronization and stability analysis of quadruped based on reconfigurable Klann mechanism

One of the key benefits of reconfigurable legged robots is their ability to move in a non-continuous way enabling it to provide better mobility over rough and irregular terrains. Legged robots should maintain it stability during rest and motion with minimum number of legs while maintaining its functionality during various gait generation and its resultant application. In this paper we have presented a stability analysis for reconfigurable Klann mechanism based quadruped by changing leg arrangement for six useful gait cycles. The platform stability based on COG (Center of Gravity) for this six useful gait cycles are validated through simulated results.