Normalized Energy Stability Margin and its Contour of Walking Vehicles on Rough Terrain
نویسندگان
چکیده
Some stability criteria for walking vehicles on rough terrain are discussed in this paper. Several criteria for stability margin were proposed up to now, but those can be roughly divided into three categories. This paper compares them each other and concludes that a stability criterion based on energy consideration is the most reasonable for practical use through simple experiments. But the existing stability margin is apparently inadequate because it varies with weight of the vehicle with the same posture, while weight doesn't affect its resistance to the tumble. Therefore, the improved stability margin normalized by weight is proposed here. At the same time, a helpful tool to derive the desirable posture for walking vehicles is described which can maximize the proposed stability margin on rough terrain.
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