Effects of Initial Stance of Quadruped Trotting on Walking Stability

TL;DR

This paper models the moment around the supporting diagonal line in quadruped trotting to analyze how initial stance affects stability, identifying optimal stances for maximal walking stability through simulations.

Contribution

It introduces a model for the moment around the supporting diagonal line in quadruped trotting and determines the optimal initial stance for stability.

Findings

Optimal initial stance maximizes walking stability.

Modeling shows the influence of initial stance varies on stability.

Simulation confirms the effectiveness of the proposed stance optimization.

Abstract

It is very important for quadruped walking machine to keep its stability in high speed walking. It has been indicated that moment around the supporting diagonal line of quadruped in trotting gait largely influences walking stability. In this paper, moment around the supporting diagonal line of quadruped in trotting gait is modeled and its effects on body attitude are analyzed. The degree of influence varies with different initial stances of quadruped and we get the optimal initial stance of quadruped in trotting gait with maximal walking stability. Simulation results are presented. Keywords: quadruped, trotting, attitude, walking stability.