Stability criterion of biped robot on rough terrain

Keita Mori, Fumiyuki Fukui, Yutaka Uchimura

研究成果: Article査読

抄録

This paper presents a stability criterion for biped robots on rough terrain. On rough terrain, which is not vertical 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.

本文言語English
ページ(範囲)320-327
ページ数8
ジャーナルIEEJ Transactions on Industry Applications
133
3
DOI
出版ステータスPublished - 2013

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

フィンガープリント 「Stability criterion of biped robot on rough terrain」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル