STABILITY ENHANCEMENT IN A FOUR LEGGED ROBOT USING A TWO DEGREES OF FREEDOM TAIL

摘要: Here a four legged robot with 2 degree of freedom tail has been studied to stabilize the motion. A control algorithm has been developed for simultaneously controlling the motion of legs and tails. Dynamic model of the robot has been developed and its analysis and simulation has been carried out using Matlab software. Concept presented enables the robot to control the position of its Center of Mass which makes it capable of controlling its stability during static walking.