A novel stability criterion for underactuated biped robot

A novel stability criterion for underactuated biped robot is presented. The underactuated biped robot contacts ground with points and has not feet while walking and running. A stability definition of biped robot is given. The Loss Balance Degree(LBD) is proposed as a novel stability criterion for un...

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Bibliographic Details
Main Authors: Peng Sheng-jun, Shui Hai-tao, Sheng Tao, Ma Hong-xu
Format: Conference Proceeding
Language:English
Subjects:
Biomimetics
Degradation
Educational institutions
Legged locomotion
Limit-cycles
Research and development
Robotics and automation
Robots
Stability analysis
Stability criteria
Online Access:Request full text
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Summary:A novel stability criterion for underactuated biped robot is presented. The underactuated biped robot contacts ground with points and has not feet while walking and running. A stability definition of biped robot is given. The Loss Balance Degree(LBD) is proposed as a novel stability criterion for underactuated biped robot according to the stability definition given before. The LBD with the Linear Inverted Pendulum Mode (LIPM) of biped robot is computed specifically. The LBD is entitled to stability criterion by analysing the basic properties that any stability criterion should has. The stability conditions for underactuated biped gait are concluded using the LBD.
DOI:10.1109/ROBIO.2009.5420550