Automatic body regulation for maintaining stability of a legged vehicle during rough-terrain locomotion

Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin

“…Until now, there were many discussions about the stability criteria for statically stable walking, such as: static stability margin [3], energy stability margin [4], normalized energy stability margin [1], energy stability margin accounting for dynamic effects [5,6], and, finally, directional normalized energy stability margin. But all of these criteria only consider the conditions required to maintain a statically stable posture and never consider the phenomena that happen when tumbling occurs.…”

Research on Dynamics and Stability in the Stairs-Climbing of a Tracked Mobile Robot

“…The acceleration of the robot's twirling angel is ε and the forces during this process are presented by Figure 7. Based on the classical mechanics analysis, we can get equations (12)- (14) from the robot's forces' equilibrium equations and its torque equilibrium equation: (14) The variable t0 in equation (14) is the time by which the projective line of the robot's CG gets through the sharp corner of the top step, the angle between the robot's bottom tracks and the ground of the top step is  , while N J is moment of inertia when the robot twirls around the sharp corner of the top step. When the robot's bottom tracks touches the top step,  is equal to zero; thus, the process of leaving the stairs ends.…”

Real-Time Photorealistic Virtualized Reality Interface for Remote Mobile Robot Control

“…Model-based interface concepts were also considered early for legged vehicles (Messuri & Klein, 1985) and wheeled Mars rovers (Chatila, Lacroix, Simion, & Herrb, 1995). Given the sensor data needed, the earliest approaches to vehicle teleoperation simply displayed the raw sensor data or showed the robot in a 2D overhead view in the context of its surrounding perceived objects.…”