Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin. (14th August 2013)

• Record Type: Journal Article
• Authors: Lazarenko, Evgeny; Kitano, Satoshi; Hirose, Shigeo; Endo, Gen
• Other Names: Asplund L. Academic Editor.; Bostelman R. Academic Editor.; Safaric R. Academic Editor.; Zhou Y. Academic Editor.
• Is Part Of: ISRN robotics. Volume 2013(2013)
• Publication Date: 2013-08-14
• Subjects: Robotics -- Periodicals; Robotics; Electronic journals; Periodicals; 629.892
• DOI: 10.5402/2013/317396
• Languages: English
• ISSNs: 2090-8806

Abstract

Abstract : This paper discusses the importance of a nontumbling gait, a gait that allows preventing complete tumbling of the robot. Nontumbling gait is made possible by the effect of the swing leg which may contact the ground even when the robot is affected by an external disturbance. Such an effect is present in both static walking and dynamic walking. Stability criterion required to maintain the nontumbling gait is then considered and proposed through generalized directional normalized energy stability margin. The validity of the introduced criterion is evaluated by a tumbling experiment with a simplified walking robot model. The concept is also applied to the gait control of the newly developed walking robot TITAN-XIII.