Title :
Study on Walking Stabilities of a Biped Robot in Considering the Distribution of Ground Reacting Forces
Author :
Ke, Xianxin ; Gong, Zhenbang ; WU, Jiaqi
Author_Institution :
Sch. of Electromechanical Eng. & Autom., Shanghai Univ.
Abstract :
Through analyzing the distribution of the normal reacting forces from the ground to the support foot, the stability condition of keeping the support foot to be in fully contacting with the ground is obtained. The theory basis of cutting a slot under the foot can improve the contact conditions between the foot and the ground is studied. A variety of states of elastic contact between the support foot and the ground due to the varieties of gravity and inertial forces acting on the robot are studied. The full necessary and sufficient conditions of dynamical stable walking without falling down and slippage during the single support phase are obtained
Keywords :
force control; friction; gravity; legged locomotion; stability; biped robot; elastic contact; gravity; ground reacting forces; inertial forces; stability condition; support foot; Foot; Gravity; Ground support; Humans; Legged locomotion; Mechatronics; Prototypes; Robotics and automation; Robots; Stability analysis; Biped robot; distribution; ground reacting force; stability;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257441
