Assessment of the Stability of a Four Legged Robot Manipulator

This paper deals with static stability of a four legged robot manipulator when it moves with trot gait. In this paper, the stability analysis based on dynamics of walking usually proposed for the analysis of walking system studied and identified its limits and ambiguity. After identifying the key issues of stability, it has been identified that moment around the supporting diagonal line of quadruped in trotting gait largely influences walking stability. Therefore Moment around the supporting diagonal line of quadruped in trotting gait is modeled and its effects on body attitude (roll and pitch) are analyzed. The degree of influence varies with different initial stances of quadruped and we get the optimal initial stance of quadruped in trotting gait with maximal walking stability. Simulation results are presented.