Stability Analysis Model of a Quadruped Walking Machine at Walking up a Step

Abstract

According to the documents, an ancient Chinese carpenter named Lu Ban invented a four-legged wooden horse carriage in the Chou Dynasty in ancient China, around 480 B.C. This wooden horse carriage could simulate the walking gait of a horse very well but it needed a carriage to keep balance while walking. This paper proposes a method of stability analysis model for the locomotion of a quadruped wooden horse without the support of a carriage. First of all, four most unstable conditions are constructed based on the gait theory of the quadruped wooden horse. The stability areas are obtained by taking the intersections of supporting boundaries that are constructed under various unstable conditions for walking on even and uneven terrain. These results of the stability analysis model are useful for supervising the stability of locomotion of a quadruped.