Stability analysis on bionic quadruped robot based on the geometric model

According to the requirement for the stability of coordination planning layer of bionic quadruped robot (BQR), this paper proposes a method to estimate the attitude of BQR based on the geometric model of robot, and uses the attitude to obtain the projection of the toe of BQR on the horizontal plane of absolute coordinate system under the walking condition. The polygon enclosed by the projection of the toe is the stability region. By analysing the relation of the polygon and the projection of centroid, we can get the stability of BQR. The numerical analysis is given to demonstrate the validity of the proposed method.