Research on anti-rollover stability for crablike robot

摘要

This paper puts forward an anti-rollover stability method for a multi-legged crablike robot using improved force-angle stability margin method. The improved force-angle stability margin as the dynamic stability analysis method is suitable for the locomotion on uneven terrains with regard of the influence of environmental disturbance and tipping diagonally and the seeking method of tipping force. An overall structural design of the robot is introduced and its dynamic stability has been analyzed when the robot walks in double tetrapod gait. The success and performance of the stability criterion proposed is verified through MATLAB simulation and real-world experiments using multi-legged crablike robot.