Dynamic stability is hot but difficult in the field of robot control with the complexity of four-legged ro-bot system and many degrees of freedom. In order to make the quadruped robot moving freely in the natural envi-ronment,the dynamic stability of the four-legged robot with diagonal feet support was researched. the four-legged robot is simplified as a movable and variable-length inverted pendulum model,and kinematic and dynamic analysis is carried out. An algorithm is designed to keep the quadruped robot stable in the case of diagonal foot support. Un-der the interference by the external force, the robot can be automatically adjusted, and reach a stable state once again. The experimental results show that the four-legged robot can precisely control the stability by itself with diag-onal feet support,and verify the feasibility of the control algorithm,which will lay an important foundation for the research of legged robot's dynamic stability.%四足机器人系统复杂,运动自由度多,其动态稳定性一直是机器人控制领域的难点与热点.为使四足机器人能够在复杂多样的自然环境中运动自如,针对四足机器人特殊的对角双足支撑动态稳定性问题进行探究.将足式机器人简化为可移动变长倒立摆模型,对其进行运动学和动力学分析,设计了一种运动稳定控制算法,使四足机器人能在对角双足支撑的情况下保持稳定,在受到外力的干扰时可自动调整,并再次恢复到平衡稳定状态.以搭建的四足仿狗机器人为实验平台,开展了对角支撑的平衡实验,实验结果表明四足机器人能够在对角支撑下精确控制自身的稳定,验证了该控制算法的可行性,为后期四足机器人动态稳定性行走奠定重要基础.
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