Stability criterion of biped robot on rough terrain

Keita Mori, Fumiyuki Fukui, Yutaka Uchimura

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

This paper presents a stability criterion for biped robots on rough terrain. On rough terrain, which is not perpendicular to gravity, a robot may not fall even though its center of mass is out of the area of the supported polygon defined by the conventional VHP (virtual horizontal plane) method. This is because there exists a certain force opposing the torque that causes the robot to fall down. We propose a new measure for strictly judging the limit of falling considering all the forces acting on the contact points. Numerical simulations and experimental results are also shown, which verify the proposed method.

Original languageEnglish
Pages (from-to)43-51
Number of pages9
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Volume189
Issue number4
DOIs
Publication statusPublished - 2014

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Stability criteria
Robots
Point contacts
Gravitation
Torque
Computer simulation

Keywords

  • biped robot
  • rough terrain
  • stability criterion
  • suction
  • ZMP

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Energy Engineering and Power Technology

Cite this

Stability criterion of biped robot on rough terrain. / Mori, Keita; Fukui, Fumiyuki; Uchimura, Yutaka.

In: Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi), Vol. 189, No. 4, 2014, p. 43-51.

Research output: Contribution to journalArticle

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