The Second IFToMM ASIAN Conference on Mechanism and Machine Science
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Tokyo
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A new approach, denoted as DNESM S-theta, to estimation of stability of multi-legged robots is suggested. The relationship between direction of the destabilizing force (e.g. strong sidewind, or any other kind of impact) influencing the robot, and stability margin is studied. Additionally, new stability margin is validated both in a simulation and experimentally. Simulation results correspond well with the results of experimental validation.
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