Dynamic Imbalance Analysis and Stability Control of Galloping Gait for a Passive Quadruped Robot

Figure 19

Imbalance and balance postures of giraffe. (a) The imbalance posture when  rad; (b) the balance posture when  rad; (c) the imbalance posture when  rad; (d) the balance posture when  rad; (e) the imbalance posture when  rad; (f) the zero time of pitching angle and the peak time of COM.

(a)

(b)

(c)

(d)

(e)

(f)