Comparative Study Between Classical and Optimized Stability Margins of Quadruped Robot Creeping Gait

Firas A. Raheem, Murtadha Khudhair Flayyih


The ability of the quadruped (four-legged) robot locomotion was used in a lot of different applications like walking over soft and rough terrains. These applications needed to guarantee the flexibility and mobility. Generally, quadruped robots have three basic periodic gaits:  creeping gait, running gait and galloping gait. The stability criteria are the main issue of the quadruped robot throughout walking with the slow motion gait like creeping gait. The gait of static stability is completely bases on the stability margins in the walking that was calculated in this paper. The quadruped robot legs walking sequence and creeping gait within the leg fixing and swinging phases carried out. The kinematics model of quadruped robot of the forward and inverse kinematics for each leg 3-DOF was calculated that lead to discover the minimum stability margins with walking on the vertical projection of the robot geometrical body. These stability margins needed to be optimized in order to obtain the best stability margin throughout this robot walking. In this paper we use the PSO optimization algorithm to get the best stability margins value. Simulation and results are verified the range of the stability margin values and the optimized results.


Quadruped Robot Simulation; Stability Margins; Quadruped Robot Gait PSO Optimization.

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