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1、ACLASSIFICATIONOFSTABILITYMARGINSFORWALKINGROBOTSElenaGarcia,JoaquinEstremeraandPabloGonzalez-de-SantosIndustrialAutomationInstitute(CSIC)28500Madrid,SpainABSTRACTThroughoutthehistoryofwalkingrobotsseveralstaticanddynamicstabilitycriteriahavebeendefined.Neverthel
2、ess,differentapplicationsmayrequiredifferentstabilitycriteriaand,uptotheauthors’bestknowledge,thereisnoqualitativeclassificationofsuchstabilitymeasurements.Controllingarobotgaitbymeansofusingthewrongstabilitycriterionmaypreventthetaskfromsucceeding.Bytheotherhand
3、,iftheoptimumcriterionisfoundtherobotgaitcanalsobeoptimized.Inthiswork,thestabilitycriteriathathavebeenappliedtowalkingrobotswithatleastfourlegsareexaminedattendingtothestabilitymarginondifferentstaticanddynamicsituations.Asaresult,aqualitativeclassificationofsta
4、bilitycriteriaforwalkingmachinesisproposedsothatthepropercriterioncanbechosenforeverydesiredapplication.1INTRODUCTIONRobotstabilitymustbecarefullycontrolledduringgaitgeneration.Thefirstgenerationofwalkingmachineswerehugemechanismscomposedofheavylimbstoodifficultt
5、ocontrol[13].Theadoptionofstaticallystablegaits[7]couldsimplifytheircontrol.However,duringthemotionoftheheavylimbsandbodysomeinertialeffectsandotherdynamiccomponents(friction,elasticity,etc.)arise.Forthisreason,lowandconstantvelocitymovementsmustbeperformed.Thus,
6、theadoptionofstaticstabilitylimitsspeedofmotion.Littleefforthasbeendonetosolveforthedynamiceffectsthatlimitstaticallystablemachines’performance[3][5][6][12][15].However,oneofthemaingoalsoftheresearchonleggedlocomotionistheapplicationofwalkingrobotsintoindustrialp
7、rocessesandtransportareas,andsuchkindofrobotsarenotintendedtotrotorgallopbutwalk.Thefewdynamicstabilitycriteriadefinedforquadrupedalwalkingseemtogivedifferentformandnametoauniqueidea:thesignofthemomentaroundtheedgesofthesupportpolygoncausedbydynamiceffectsactingo
8、verthecenterofmassofthevehicle.Thesuitabilityofeachcriterionforeachparticularapplication(i.e.manipulationforcesandmomentpresent,uneventerrain,etc.)isnotclearat
