Home >

news Help

Publication Information


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.

©2007 Tokyo Institute of Technology All rights reserved.