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Real-time Detection and Self-adjusting Method on Static Walking Stability of Quadruped Horse Robot


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Real-time Detection and Self-adjusting Method on Static Walking Stability of Quadruped Horse Robot
TAO Wei-jun1FENG Hu-tian1YU Lian-qing2
1. School of Mechanical Engineering,NUST,Nanjing 210094,China; 2. College of Electromechanical Engineering,Wuhan Textile University,Wuhan 430073,China
quadruped horse robots static walking stability center of pressure real-time detection fuzzy reference
Aiming at the walking stability of static walking for quadruped horse robots,a real time detection method based on the center of pressure is proposed. A quantitative calculation of the walking stability is conducted. A method to realize the self-adjusting of the robot’s static walking stability by using the fuzzy reference is proposed based on the detected stability and the center of pressure. A mini quadruped horse robot is self-made and static walking experiments are done on different grounds. Experimental results show that the proposed method can realize the static walking stability detection and self-adjusting, and can improve the static walking stability of a quadruped horse robot.


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Last Update: 2012-10-25