In this work the method of stability analysis of dynamic symmetrical gaits is proposed. The problem of dynamic postural equilibration taking into account the role of compliant feet is solved. The forces and torques equilibrium conditions are split between the feet attachment points and the points within the footprints area. It is explained how to evaluate the application points of resultant leg-end reaction forces in stable posture. The method is inspired by ZMP (Zero Moment Point) formulation formulation but addresses double support phase (in diagonal gait) and not single support phase as it is for ZMP. The presented method is useful for motion synthesis taking into account robot parameters. It also helps in the robot feet design. As an illustrative example a four-legged diagonal gait is considered. The theoretical results were verified by implementing and observing the diagonal gait in four-legged machine with and without feet.
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