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About the Walking Machine Motion Stability
Engineering Education # 06, June 2014
DOI: 10.7463/0614.0712266
The article discusses some problems concerning the functional safety of statically stable multi-legged walking machines associated with the possible loss of motion stability. When a waking machine works in dangerous situations it is suggested to use a special cautious (safe) gait that will allow the machine to remain statically stable in case of its sudden loosing a support to one of the legs. It is also proposed to reconsider a general definition of the static stability margin of walking machine to have a numeric characteristic that allows not only answer the question on the static stability (instability) of a walking machine, but also obtain an adequate estimation of the machine concerning its overturning possibility.
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