Research on anti-rollover stability for crablike robot

Author

Gang Wang ; Xi Chen ; Xiufen Ye

Author_Institution

Coll. of Shipbuilding Eng., Harbin Eng. Univ., Harbin, China

fYear

2013

fDate

4-7 Aug. 2013

Firstpage

1229

Lastpage

1233

Abstract

This paper puts forward an anti-rollover stability method for a multi-legged crablike robot using improved force-angle stability margin method. The improved force-angle stability margin as the dynamic stability analysis method is suitable for the locomotion on uneven terrains with regard of the influence of environmental disturbance and tipping diagonally and the seeking method of tipping force. An overall structural design of the robot is introduced and its dynamic stability has been analyzed when the robot walks in double tetrapod gait. The success and performance of the stability criterion proposed is verified through MATLAB simulation and real-world experiments using multi-legged crablike robot.

Keywords

gait analysis; legged locomotion; mechanical stability; robot dynamics; Matlab simulation; double tetrapod gait; dynamic stability; environmental disturbance; force-angle stability margin method; locomotion; multilegged crablike robot antirollover stability; tipping force seeking method; walking robots; Gravity; Legged locomotion; Stability criteria; Anti-rollover stability; Improved force-angle stability margin; Multi-legged crablike robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2013 IEEE International Conference on

Conference_Location

Takamatsu

Print_ISBN

978-1-4673-5557-5

Type

conf

DOI

10.1109/ICMA.2013.6618089

Filename

6618089