Increasing the Stability Margin of Multilegged Vehicles through Body Sway

@inproceedings{Hung2005IncreasingTS,
  title={Increasing the Stability Margin of Multilegged Vehicles through Body Sway},
  author={Min-Hsiung Hung and Fan-Tien Cheng and Hao-Lun Lee and David E. Orin},
  year={2005}
}
An essential consideration in the development of any control algorithm for a multilegged vehicle is to maintain stability. If at any point during locomotion the vehicle becomes unstable, there is a possibility that the vehicle will overturn. In this research, we propose to include body sway motion into the motion planning of a quadruped’s wave gait, such… CONTINUE READING