Stability analysis of locomotion using normalized dynamic energy stability margin for a hexapod robot romerin

Polo J.D.M.; Alcantara J.H.A. · 2020 IEEE Congreso Bienal de Argentina, ARGENCON 2020 - 2020 IEEE Biennial Congress of Argentina, ARGENCON 2020 (2020) · DOI: 10.1109/argencon49523.2020.9505435

Resumen

Walking robots are used in hard to reach places, as military missions, mining, among others, however, these robots need maintain the stability during their displacement by use of a dynamic stability margin. In this paper, The Normalized Dynamic Energy Stability Margin is applied in order to study the stability of locomotion for hexapod robot ROMERIN, with a tripod gait in a flat horizontal surface. The parameters that affect stability were identified, the configuration adopted by the links of the robot is characterized by step length, the maximum height of displacement of the leg end in stride phase, and the maximum distance of displacement of the legs in stride phase to the outside of the body, in addition a key factor is the speed of displacement, the step length is selected who maximizes it and find the average velocity close to stability loss, under specific conditions.

Instituciones: Universidad Nacional de Trujillo