In any airplane, the forward and aft limits on center of gravity are carefully defined.
In our previous research,8,9 the optimization objective had been to find the rover parameters so that the path traversed by the center of gravity tends to the straight line.
Stability-level curves are also presented on the basis of a suitable stability margin to control the trajectory of the center of gravity during the support phase.
Among various types of turning gaits, spinning gaits, in which the turning center is at or closed to the center of gravity, are concerned in this paper.
However, one can observe that the center of gravity of the leg is lowered while the moment of inertia of the leg links is increased.
In the present study, the monitors were placed around the top of the pelvis, near the center of gravity.
A crisp value for the effectiveness is obtained through center of gravity type defuzzification.
It should be emphasized, that in both cases the displacement of the center of gravity has not been taken into account.
