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Title
Japanese: 
English:Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin 
Author
Japanese: LAZARENKO EVGENY, 北野智士, 広瀬茂男, 遠藤玄.  
English: Evgeny Lazarenko, Satoshi Kitano, SHIGEO HIROSE, Gen Endo.  
Language English 
Journal/Book name
Japanese: 
English:ISRN Robotics 
Volume, Number, Page Volume 2013       
Published date Aug. 19, 2013 
Publisher
Japanese: 
English:Hindawi Publishing Corporation 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
Official URL http://www.hindawi.com/isrn/robotics/2013/317396/
 
DOI https://doi.org/10.5402/2013/317396
Abstract This paper discusses the importance of a nontumbling gait, a gait that allows preventing complete tumbling of the robot. Nontumbling gait ismade possible by the effect of the swing leg whichmay 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.

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