Stability judging method for quadruped bionic robot

In order to exactly evaluate the walking stability and stability margin of a quadruped robot a general criteria is proposed adopting the minimal distance from the supporting edge to the center of pressure on ground to estimate the walking stability of the robot. For convenience, the conception of minimal stability distance (MSD) is introduced. Based on the general criteria, the minimal distance from the supporting edge to the vertical projection point of robot's center of gravity on ground is used to embody the general criteria indirectly. By simulation, the relations between stability and parameters such as disturb elements, height of center of gravity, obliquity of supporting plane and mass of the robot are discussed. The experimental result proves the effectiveness of the general criteria.