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
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;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013565
