Original Articles: 2016 Vol: 8 Issue: 6
Walking Robot Stability Based on Inverted Pendulum Model
A new kind of quadruped-imitating walking robot is designed, which is composed of a body bracket, leg brackets and walking legs. The walking leg of the robot is comprised of a first swiveling arm, a second swiveling arm and two striding leg rods. Each rod of the walking leg is connected by a rotary joint, and is directly controlled by the steering gear. The walking motion is realized by two striding leg rods alternately contacting the ground. Three assumptions are put forward according to the kinematic characteristics of the quadruped-imitating walking robot, and then the centroid equation of the robot is established. On this basis, this paper simplifies the striding process of the quadruped-imitating walking robot into an inverted pendulum model with a constant fulcrum and variable pendulum length. According to the inverted pendulum model, the stability of the robot is not only related to its centroid position, but also related to its centroid velocity. Takes two typical movement cases for example, such as walking on flat ground and climbing the vertical obstacle, the centroid position, velocity curves of the inverted pendulum model are obtained by MATLAB simulations. The results show that the quadruped-imitating walking robot is stable when walking on flat ground. In the process of climbing the vertical obstacle, the robot also can maintain certain stability through real-time control adjusted by the steering gears.