Lateral balance recovery of quadruped robot on rough terrains

Abstract

In recent years, the proportion of nuclear power use in China has gradually risen; however, of the numerous nuclear power plant accidents warn us to consider aspects related to the relief provided at the scene of the accident. Therefore, the development of an emergency rescue robot for the nuclear power plant becomes the necessity of the hour in addition to being a world-level problem in the field of international nuclear disaster relief. At the accident scene, due to the unexpected situation that may exist, the emergency rescue robot may be hampered during its motion. Considering this situation, this article discusses the situation wherein a quadruped robot achieves the lateral balance recovery while moving on rough terrains. Therefore, we propose a flywheel pendulum model and the capture point theory to derive relevant equations. Finally, in the simulation, we exert a lateral force on our quadruped robot, the performance of which will prove our methodology’s validity.