![](bg6.png)
The stability of this evolution is graphical
represented by a stability certificate of the evolution
(Figure 12).
This certificate attests the stability index of the
active pair of legs in any moment.
Figure 12: The stability certificate of the evolution.
6 CONCLUSIONS
Experiments on walking structures, made in the
mechatronics laboratory, revealed the efficiency of
SSTA algorithm, providing a robot system stability
especially on hard terrain or with a high degree of
uncertainty regarding the nature and topography of
the contact surface. Using smart materials in the
structure of biomimetic mechatronic architectures
lead to an extension of the control capabilities.
These latter elements will be explored in subsequent
theoretical developments of research activity,
practical experimentation, empirical, currently
performed being extremely encouraging.
ACKNOWLEDGEMENTS
This report is part of the Romanian National
University Research Council (CNCSIS) contribution
to the project PNCDI – II - 289/2008.
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