Keeping static stability is necessary condition in order to realize a crawl gait. Thus, a torso is moved so that center of gravity (COG) exists in the support polygon formed by support legs. Y-coordinate of the landing position of each leg is set as constant in the Cartesian coordinate system fixed on a ground as shown in Fig. 5.1. The Y axis of the COG motion is moved as a function of sin, and the X axis of the COG motion is move so that the velocity of COG is 0 when COG cross the segment of the support polygon. There are two times when the velocity of the X axis is 0 in one walking cycle.
KeywordsSlope Angle Stride Length Joint Torque Static Torque Support Polygon
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