Author(s): LIU Qing, CHEN Mingzhe, ZHANG Qixian North University of Technology, Beijing Beijing University of Aero & Astro
Pages: 24-29
Year: 1990 Issue:  3
Journal: Robot
Keyword:  quadruped; gait; static balance;
Abstract: This paper deals with the gait selecting and static balance of the four-legged robots. Based on the "finite statetheory", a new definition about gait is introduced. Then, the criterion for selecting gait. the fundamental features ofthe gait and the related synthesis method are studied. Finally, the sufficient and necessary conditions to prevent thequadruped from falling are derived.