Aimed to improve the walking ability of a quadruped robot on uneven terrain, the stable
condition in marching process was analyzed based on zero moment point (ZMP) theory. By …

A LATERAL IMPACT RECOVERY METHOD FOR QUADRUPED ROBOT WITH STEP HEIGHT
COMPENSATION Page 1 International Journal of Robotics and Automation, Vol. 35, No. 3 …

The hexapod robot might be instability when acted by an external force walking on the rough
roads. To overcome this problem, a dynamic stability analysis method considering the …

In order to solve the walking stability problem of quadruped robot under lateral disturbance,
a robust stabilization reactive control strategy based on capture point stability theory is …

Real-time response to tipping is essential for a hexapod robot to avoid damaging itself and
load when it walks on rough terrains. In this paper, a criterion is proposed combining ZMP …

This paper proposes a smooth adjustment method for the instability problem that occurs
during the start and stop of a multi-footed robot during attitude change. First, kinematics …

Aiming at the environment such as ravines and obstacles that may be encountered in the
actual movement, this paper proposes a method for optimizing the bounding and jumping …

In order to implement stable movement on slopes, the shins of quadruped robot were
designed to use the hydraulic cylinder in this paper. A mass center adjustment method of …

Maintaining and restoring robot balance in the presence of external disturbances is an
important issue for a quadruped robot. This is due the fact that these robots move over …