Body Vibration of a Legged Walking Machine

[+] Author and Article Information
Xiaochun Gao, Shin-Min Song

Department of Mechanical Engineering, University of Illinois at Chicago, P.O. Box 4348, Chicago, IL 60680

J. Mech. Des 115(4), 856-862 (Dec 01, 1993) (7 pages) doi:10.1115/1.2919279 History: Received July 23, 1991; Online June 02, 2008


Unlike wheeled vehicles, compliance in walking machine systems changes due to the variation of leg geometry, as its body proceeds. This variation in compliance will cause vibration, even if external loads remain constant. A theory is thus developed to predict the body vibrations of a walking machine during walking. On the other hand, dynamic foot forces under body vibrations can be computed by application of the existing numerical methods. As an example, the body vibrations of a quadrupedal walking chair under different walking conditions are simulated in terms of the developed theory. The results show that the influence of body vibrations on the foot force distribution is essential and, in some cases, the walking chair may lose its stability due to its body vibrations, even though it is identified to be stable in a quasistatic analysis. The developed theory can also be extended to other similar multilimbed robotic systems, such as multifingered robot hands.

Copyright © 1993 by The American Society of Mechanical Engineers
Topics: Machinery , Vibration
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