Research on Dynamic Stability Prediction of Large Heavy Six-legged Robots On Slope

Abstract

The determination of stability is critical for heavy six-legged robots, as heavy six-legged robots will be difficult to recover if they become unstable. This paper mainly describe a method to predict the robot's stability on slopes based on the robot's dynamic stability and the terrain information of the ground. In order to conveniently and rationally use topographic information to make reasonable predictions of some instability of robots, such as slipping and destabilizing phenomena, fuzzy inference and input of topographic information are used to predict robot's stability. Finally, the algorithm is verified in a simulation environment