Cart (Loading....) | Create Account
Close category search window
 

The effect of asymmetrical body-mass distribution on the stability and dynamics of quadruped bounding

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hong Zou ; Dept. of Mech. Eng., Ohio State Univ., Columbus, OH ; Schmiedeler, J.P.

The effect of asymmetrical body-mass distribution on the stability and dynamics of two-degree-of-freedom quadruped bounding in place is investigated in this study. An analytical stability criterion for bounding of quadrupeds with asymmetrical mass distribution is developed. Bounding is found to be passively stable in the Hamiltonian sense when the dimensionless pitch moment of inertia of the body is less than 1-beta2, where beta is a dimensionless measure of the asymmetry. The criterion is derived under the assumptions of infinite leg stiffness and no energy loss. With energy dissipation modeled as linear damping in the legs, simulation results show that the criterion is independent of the value of leg stiffness and a conservative estimate of the critical inertia value. Body symmetry appears to be more favorable to stable bounding than asymmetry, but only slightly so in practicality. The results show that asymmetry offers some advantages when the dynamic characteristics of bounding are compared for symmetrical and asymmetrical models. Lower stride frequency, larger vertical displacement, and smaller duty factor are obtained with this more animal-like model

Published in:

Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 4 )

Date of Publication:

Aug. 2006

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.