Influence of Dynamics in Statically Stable Walking Machines

摘要

This paper addresses how dynamic effects modify the measurement of the static stability of a discontinuous gait. For this study, a dynamic planar model of a four-legged walking machine was derived. Then, both the lon-gitudinal and dynamic stability margins were computed and compared. Finall results show that the static stability margin is an adequate measurement for studying stability, even at high velocities and accelerations.