Dynamic Effects in Statically Stable Walking Machines

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 23, Issue 1, 1998, Pages 71-85

  Gonzalez De Santos, P ^a   Jimenez, M A ^a   Armada, M A ^a  

^a Consejo Superior de Investigaciones Científicas   (Spain)

Author keywords

Dynamic stability margin; Legged locomotion; Quadruped walking machines; Static stability

Indexed keywords

ACCELERATION; CALCULATIONS; CONSTRAINT THEORY; DYNAMICS; MATHEMATICAL MODELS; STABILITY;

WALKING MACHINES;

MOBILE ROBOTS;

EID: 0032167106     PISSN: 09210296     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1007993923530     Document Type: Article

References (13)

1. Bennani, M. and Giri, F.: Dynamic modelling of a four-legged robot, J. Intelligent Robotic Systems 17 (1996), 419-428.
2. Gonzalez de Santos, P. and Jimenez, M. A.: Generation of discontinuous gaits for quadruped walking machines, J. Robotic Systems 12(9) (1995), 599-611.
3. Gonzalez de Santos, P. and Jimenez, M. A.: Path tracking with quadruped walking machines using discontinuous gaits, Comput. Electronic Engrg. 21(6) (1996), 383-396.
4. Hirose, S. and Umetani, Y.: Some consideration on a feasible walking mechanism as a terrain vehicle, in: Proc. 3rd CISM-IFTOMM Symp. on Theory and Practice of Robots and Manipulators, Amsterdam, Elsevier, 1978, pp. 357-375.
5. Jimenez, M. A., Gonzalez de Santos, P., and Armada, M. A.: A four-legged walking test bed, in: 1st IFAC Internat. Workshop on Intelligent Autonomous Vehicles, Hampshire, U.K., April 1993, pp. 8-13.
6. Klein, C. A. and Chung, T. S.: Force interaction and allocation for the legs of a walking vehicle, IEEE J. Robotics Automat. RA-3(6) (1987), 546-555.
7. Lin, B. S. and Song, S. M.: Dynamic modeling, stability and energy efficiency of a quadrupedal walking machine, in: IEEE Internat. Conf. on Robotics and Automation, Atlanta, GA, May 2-6, 1993, Vol. 3, pp. 367-373.
8. McGhee, R. B. and Frank, A. A.: On the stability properties of quadruped creeping gaits, Math. Biosci. 3 (1968), 331-351.
9. Pandy, M. G., Kumar, V., Berme, N., and Waldron, K. L.: The dynamics of quadrupedal locomotion, ASME J. Biomechanical Eng. 110 (1988), 230-237.
10. Song, S. M. and Waldron, K. J.: Machines that Walk: The Adaptive Suspension Vehicle, MIT Press, Cambridge, MA, 1988.
11. Villar, C., Gorce, P., and Fontaine, J. G.: Legged robot: How to solve quasi-dynamic situation with a coordinator level, in: Internat. Conf. on Mechatronic ICAM'93, pp. 610-614.
12. Waldron, K. J.: Force and motion management in legged locomotion, IEEE J. Robotics Automation, RA-2(4) (1986), 214-220.
13. Wong, H. C. and Orin, D. E.: Dynamic control of a quadruped standing jump, in: IEEE Internat. Conf. on Robotics and Automation, Atlanta, GA, May 2-6, 1993, pp. 346-351.