An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

• Published in: International journal of advanced robotic systems Vol. 12; no. 5
• Main Authors: Long, Shidong, Xin, Guiyang, Deng, Hua, Zhong, Guoliang
• Format: Journal Article
• Language: English
• Published: London, England SAGE Publications 20.05.2015; Sage Publications Ltd; SAGE Publishing
• Subjects: Algorithms; Computer simulation; Contact; Contact angle; Dynamic stability; Dynamics; Legs; Loads (forces); Manipulators; Mathematical analysis; Methods; Robots; Stability; Stability analysis; Stability criteria; Walking; Tip-over Stability; Stability Monitoring; Improved Force-Angle Stability Margin; Radial Symmetrical Hexapod Robot

This paper presents a study on stability monitoring for a radial symmetrical hexapod robot under dynamic conditions. The force-angle stability margin (FASM) measure method has been chosen as the stability criterion. This is because it is suitable for the stability analysis, in terms of external forc...