Foot Force Based Reactive Stability of Multi-Legged Robots to External Perturbations

Abstract

Many environments and scenarios contain rough and irregular terrain and are inaccessible or hazardous for humans. Robotic automation is preferred in lieu of placing humans at risk. Legged locomotion is more advantageous in traversing complex terrain but requires constant monitoring and correction to maintain system stability. This paper presents a multi-legged reactive stability control method for maintaining system stability under external perturbations. Assuming tumbling instability and sufficient friction to prevent slippage, the reactive stability control method is based solely on the measured foot forces normal to the contact surface, reducing computation time and sensor information. Under external perturbations, the reactive stability control method opts to either displace the CG or the foot contacts of the robot based on the measured foot force distribution. Details describing the reactive stability control method are discussed including algorithms and an implementation example. An experimental demonstration of the reactive stability control method is presented. The experiment was conducted on a hexapod robot platform retrofitted with a tiny computer and force sensitive resistors to measure the foot forces. The experimental results show that the presented reactive stability control strategy prevents the robot from tipping over under external perturbation.

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