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JRM Vol.11 No.6 pp. 510-517
doi: 10.20965/jrm.1999.p0510
(1999)

Paper:

Joint Positions and Robot Stability of the Omnidirectional Crawling Quadruped Robot

Xuedong Chen*, Keigo Watanabe** and Kiyotaka Izumi***

*Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering

**Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering

***Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1 Honjomachi, Saga 840-8502, Japan

Received:
May 10, 1999
Accepted:
August 20, 1999
Published:
December 20, 1999
Keywords:
quadruped robot, joint position, robot stability, statically stable area
Abstract

Determination of joint positions, judgment of robot stability, and selection of the consequential swing leg are keys to crawling control for quadruped robots. We derive an efficient way to obtain actuation variables of joint positions to satisfy the gait for quadruped robots. By defining the statically stable area for foot placement, a new approach on analysis of robot stability is presented. Unlike conventionally, we avoid solving complicated direct robot kinematics as an overall kinematic chain and simultaneously show information on robot stability and the stable range of foot placement. Effectiveness is shown in practical crawling experiments.

Cite this article as:
Xuedong Chen, Keigo Watanabe, and Kiyotaka Izumi, “Joint Positions and Robot Stability of the Omnidirectional Crawling Quadruped Robot,” J. Robot. Mechatron., Vol.11, No.6, pp. 510-517, 1999.
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