Machines That Walk: The Adaptive Suspension Vehicle
Machines That Walk: The Adaptive Suspension Vehicle
Operation strategy for a low-cost easy-operation Cassino Hexapod
Applied Bionics and Biomechanics
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Discontinuous gaits for walking machines present some advantages overwave gaits such as better stability margins and greater speed for small dutyfactors, for instance. The problem is that a machine using discontinuousgaits starts and stops its body motion several times per locomotion cycle.This means that high accelerations appear, therefore the theoretical staticstability margin can be inadequate for measuring stability. This paperaddresses how dynamic effects modify the measurement of the static stabilityof a discontinuous gait and determines the acceleration under which thecriterion of using the static stability margin for measuring the stabilityis valid. For this study, a dynamic planar model of a four-legged walkingmachine was derived. Then, both the longitudinal and dynamic stabilitymargins were computed and compared. Final results show that the staticstability margin is an adequate measurement for studying stability inmassless leg machines with the constraint that the acceleration of the bodybe smaller than the inversion acceleration. When the mass of the legs issignificant, stability is determined by the dynamics of the legs and thedistribution of the mass of the legs as well.