Stability Measure Comparison for the Design of a Dynamic Running Robot

Estimating the effect of design changes on the stability of robots designed to run over rough terrain is a difficult task. No current predictor or measure is currently universally accepted. The most common techniques, including the ‘stability margins’ commonly used in walking machines and the return-map eigenvalue analysis used on simple models, are not fully applicable to these fast and complex systems. This paper describes a comparison of three approaches to measuring stability applied to a redesign of our hexapedal running robot, Sprawl.

[1]  David E. Orin,et al.  Interactive control of a six-legged vehicle with optimization of both stability and energy / , 1976 .

[2]  Giuseppe Oriolo,et al.  A biped locomotion strategy for the quadruped robot Sony ERS-210 , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[3]  R. McGhee,et al.  On the stability properties of quadruped creeping gaits , 1968 .

[4]  Philip Holmes,et al.  Dynamics and stability of insect locomotion: a hexapedal model for horizontal plane motions , 2004, Biological Cybernetics.

[5]  Jonathan E. Clark,et al.  Fast and Robust: Hexapedal Robots via Shape Deposition Manufacturing , 2002 .

[6]  H. Benjamin Brown,et al.  c ○ 2001 Kluwer Academic Publishers. Manufactured in The Netherlands. RHex: A Biologically Inspired Hexapod Runner ∗ , 2022 .

[7]  Chee-Meng Chew,et al.  Virtual Model Control: An Intuitive Approach for Bipedal Locomotion , 2001, Int. J. Robotics Res..

[8]  Jonathan E. Clark,et al.  Design, simulation, and stability of a hexapedal running robot , 2004 .

[9]  Shin-Min Song,et al.  Dynamic modeling, stability and energy efficiency of a quadrupedal walking machine , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[10]  D. Orin,et al.  Interactive compute-control of a six-legged robot vehicle with optimization of stability, terrain adaptibility and energy , 1976, 1976 IEEE Conference on Decision and Control including the 15th Symposium on Adaptive Processes.

[11]  Mark R. Cutkosky,et al.  DYNAMIC SIMULATION AND ANALYSIS OF A PASSIVELY SELF-STABILIZING HEXAPEDAL RUNNING ROBOT , 2004 .

[12]  Gentaro Taga,et al.  A model of the neuro-musculo-skeletal system for human locomotion , 1995, Biological Cybernetics.

[13]  Yasuhiro Fukuoka,et al.  Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts , 2003, Int. J. Robotics Res..