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
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.
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