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Publikováno v:
International Journal of Advanced Robotic Systems, Vol 12 (2015)
International Journal of Advanced Robotic Systems
International Journal of Advanced Robotic Systems
This paper presents a dynamic stability analysis method for a trotting quadruped robot on unknown rough terrains, which is based on the Lyapunov theory of a switching system. Firstly, the dynamical model of a trotting quadruped robot is built as a no