間歇クロール歩容の提案とその生成原理 The Proposal of the Intermittent Crawl Gait and its Generation
We propose a novel gait for quadruped walking robots which can maximize the static stability margin.<br>It has already been mentioned in our former study that the normalized energy stability margin, which we call the NE stability margin for short, is the most practical criterion to evaluate the stability of walking robots on rough terrains and that the <i>S<sub>NE</sub></i> contour, which connects all the points on the ground possessing the same NE stability margin, helps us to estimate the most stable direction for the center of gravity to move. Then in the first part of this paper, we mention the characteristics of the new static gait, called the intermittent crawl gait, which enables quadruped walking robots to keep larger NE stability margin than the crawl gait. Second, we derive the standard foot trajectory which can maximize both the stability and the velocity to move. Third, we also make it clear how to change the walking robot's directions while maintaining sufficient NE stability margins. And in the last part, we'll show you the validity of these theories through the experiments with our actual model, TITAN VII.
日本ロボット学会誌 17(2), 301-309, 1999-03-15
The Robotics Society of Japan