Static stable regions acording to Center Of Press to quantify humanoid walking stability

Usually a walking pattern can be only roughly distinguished into stable or unstable. The evaluation of a humanoid walking stability is difficult to quantify. In this paper, static stable regions according to Center Of Press (COP) to quantify humanoid walking stability margins are proposed. Firstly, based on four force sensors, the COP position of a humanoid robot in single and double support phases is derived. And the major joint variable to influence the COP position is extracted. Finally, the COP regions of humanoid in stable standing with respect to major joint changes are measured. The measured COP regions for humanoid robot stable standing are thus called static stable regions. They are very useful for the identification of humanoid robot walking stability. Four static stable regions used to connect a stable walking pattern are also included.