DocumentCode :
2619955
Title :
Geometric Characterization and Experimental Validation of Frictional 3-Contact Equilibrium Stances in Three-Dimensions
Author :
Or, Yizhar ; Rimon, Elon
Author_Institution :
Dept. of ME, Technion
fYear :
2007
fDate :
10-14 April 2007
Firstpage :
193
Lastpage :
198
Abstract :
Quasistatic multi-legged locomotion consists of a sequence of equilibrium postures where the mechanism supports itself against gravity while moving free limbs to new positions. A posture maintains equilibrium if the contacts can passively support the mechanism against gravity. This paper is concerned with computation and graphical characterization of equilibrium postures for mechanisms supported by frictional contacts in a three-dimensional gravitational field. For a given set of contacts, this problem reduces to the computing feasible region R, defined as the center-of-mass positions that maintain equilibrium while satisfying the frictional constraints. This paper continues a previous work by the authors, and provides a new method for computing the boundary of R for 3-contact stances. The paper also gives physical and geometric interpretations for the boundary of R and discusses its relation with the classical support polygon principle. Finally, the paper reports experimental results that validate the theoretical computation.
Keywords :
friction; legged locomotion; motion control; path planning; center-of-mass positions; equilibrium posture sequence; frictional 3-contact equilibrium stances; geometric characterization; quasistatic multilegged locomotion; Friction; Gravity; Humanoid robots; Kinematics; Legged locomotion; Motion planning; Physics computing; Robotics and automation; Stability; Testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
ISSN :
1050-4729
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2007.363786
Filename :
4209091
Link To Document :
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