Stability Analysis of Gaits of Quadruped Walking Robot MERO

Gaits study is a fundamental part of legged vehicle research. Legged locomotion has been used by biological systems for hundreds of millions of years In contrast, wheeled locomotion vehicles have only a history of several thousand years. Wheeled vehicles are so familiar and ubiquitours in our modern way of life, and have been developed to such level of sophistication. But, approximately half of the Earth’s land is inaccessible to either wheeled or tracked vehicles. Why then, has artificial legged locomotion not been utiliyed for transportation in the past?. The walking robots are built for to displace the loads on the not-aligned terrain. Therefore, the way of leans of walking robot legs on the terrain surface must be so that the system stability to be provided. The loss of static or quasi-static stability may produced in two cases, namely: the vertical projection of the gravity center is out of support polygon, one or more tangential components of reaction forces from support points are greater than the friction forces. A number of legged vehicles are being developed for their mobility characteristics over irregular terrain .One such vehicle is walking robot MERO