Investigation of Standing Up Strategies and Considerations for Gait Planning for a Novel Three-Legged Mobile Robot
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Many factors contribute to the development of STriDERâ s gait. Several considerations for gait planning as the robot takes a step are investigated, including: stability, dynamics, the bodyâ s maximum and minimum allowable heights, the swing legs foot clearance to the ground, and the range of the subsequent swing foot contact positions. A static stability margin was also developed to asses the stability of STriDER. This work will lay the foundation for future gait generation research for STriDER. Additionally, guidelines for future work on single step gait generation based on kinematics and dynamics are discussed.
The findings presented will advance the capabilities and adaptability of the novel robot STriDER. By studying standing up strategies and gait planning issues, the most efficient control methods can be implement for standing up and preparing to take a step and lay out the foundations for future research and development on STriDER.
- Masters Theses