An Approach to Evaluate the Dynamic Stability for Walking Robots

In recent years, the dynamics of walking robots was studied based on dangerous environments. A more complete dynamic model is essential for the further of a practical legged robot. As an important enrichment in stability study for a walking robot, a stability measure named as Moment Ratio Stability Margin (MRSM) is introduced, which takes all stability factors into formulation. In this paper we attempt to explore a dynamic stability margin for a walking robot to analyze and evaluate the stability problem t during its locomotion.