DocumentCode
1868346
Title
Stability of statically balanced stances for legged robots with compliance
Author
Ridderström, Christian
Author_Institution
Dept. of Machine Design, R. Inst. of Technol., Stockholm, Sweden
Volume
3
fYear
2002
fDate
2002
Firstpage
2240
Lastpage
2245
Abstract
Presents a criterion for the asymptotic stance stability of a statically balanced legged robot. Typically, the static balance criterion only considers that the centre of mass is projected within the support area. This work shows that when the combined system is not stiff enough (as specified in the criterion), a so called "statically stable" stance is actually unstable. The criterion is derived analytically and also verified in experiment
Keywords
asymptotic stability; legged locomotion; stability criteria; asymptotic stance stability; compliance; planar model; statically balanced legged robot; statically balanced stances; Asymptotic stability; Energy measurement; Force control; Force measurement; Gravity; Leg; Legged locomotion; Pensions; Robots; Stability criteria;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013565
Filename
1013565
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