The modeling methods to consider the statistical properties of the ground that contacts with the quadruped robot is proposed and the effects of the statistical properties on the dynamic responses of a galloping quadruped robot are investigated in this...
The modeling methods to consider the statistical properties of the ground that contacts with the quadruped robot is proposed and the effects of the statistical properties on the dynamic responses of a galloping quadruped robot are investigated in this paper. In general, the properties of ground are assumed to be deterministic for a controller design to achieve required motion characteristics. However, the properties of the ground are not constant in reality. Therefore, the performance of controller needs to be .confirmed on the contact force considering the statistical characteristics. In this study, the ground modeling that has the statistical contact normal forces for a multi-body simulator is applied and the effects of the statistical properties on the dynamic responses of the quadruped robots are investigated.