Jiaheng Zhao
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Research Subjects
Research Interests
Jiaheng Zhao has a total of 5 co-authors. Here are the top co-authors by number of shared publications:
- Baoling Han
Beijing Institute of Technology
1 shared publication - Guanhao Liang
School of Mechatronical Engineering, Beijing Institute of Technology, No. 5 Zhongguancun South Street, Haidian District, Beijing 100081, China
1 shared publication - Xiao Luo
School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo 454003, China
1 shared publication - Yan Jia
School of Mechanical Engineering, Beijing Institute of Technology, No. 5 Zhongguancun South Street, Haidian District, Beijing 100081, China
1 shared publication - Yuting Zhao
School of Mechanical Engineering, Beijing Institute of Technology, No. 5 Zhongguancun South Street, Haidian District, Beijing 100081, China
1 shared publication
Latest Publications
- Open Access
- 25 November 2018
- Published by MDPI AG in Applied Sciences
- Vol. 8 (12) , 2381
Stability Criterion for Dynamic Gaits of Quadruped Robot
Dynamic-stability criteria are crucial for robot’s motion planning and balance recovery. Nevertheless, few studies focus on the motion stability of quadruped robots with dynamic gait, none of which have accurately evaluated the robots’ stability. To fill the gaps in this field, this paper presents a new stability criterion for the motion of quadruped robots with dynamic gaits running over irregular terrain. The traditional zero-moment point (ZMP) is improved to analyze the motion on irregular terrain precisely for dynamic gaits. A dynamic-stability criterion and measurement are proposed to determine the stability state of the robot and to evaluate its stability. The simulation results show the limitations of the existing stability criteria for dynamic gaits and indicate that the criterion proposed in this paper can accurately and efficiently evaluate the stability of a quadruped robot using such gaits.
- 25 November 2018
- Published by MDPI AG in Applied Sciences
- Vol. 8 (12) , 2381
Open AccessStability Criterion for Dynamic Gaits of Quadruped Robot
Dynamic-stability criteria are crucial for robot’s motion planning and balance recovery. Nevertheless, few studies focus on the motion stability of quadruped robots with dynamic gait, none of which have accurately evaluated the robots’ stability. To fill the gaps in this field, this paper presents a new stability criterion for the motion of quadruped robots with dynamic gaits running over irregular terrain. The traditional zero-moment point (ZMP) is improved to analyze the motion on irregular terrain precisely for dynamic gaits. A dynamic-stability criterion and measurement are proposed to determine the stability state of the robot and to evaluate its stability. The simulation results show the limitations of the existing stability criteria for dynamic gaits and indicate that the criterion proposed in this paper can accurately and efficiently evaluate the stability of a quadruped robot using such gaits.