DYNAMICS AND m-STABILITY OF LEGGED ROBOTS-Reference-Cited by-同舟云学术

DYNAMICS AND m-STABILITY OF LEGGED ROBOTS

Published:2005-03 Issue:01 Volume:02 Page:1-20
ISSN:0219-8436
Container-title:International Journal of Humanoid Robotics
language:en
Short-container-title:Int. J. Human. Robot.

Author:

FORET JEROME¹,BRUNEAU OLIVIER¹,FONTAINE JEAN-GUY¹

Affiliation:

1. Vision and Robotics Laboratory, High National School of Engineering of Bourges, 10 Boulevard Lahitolle 18020 Bourges Cedex, France

Abstract

This article presents a theoretical approach for modeling and controlling the stability of legged robots. The new proposed concept is two-fold: (a) the definition of the (m-d)-stability and (b) the definition of the Virtual Generalized Stabilizer. These concepts are developed throughout a theoretical and general approach to the dynamics of legged robots. Numerical results are analyzed through the simulated behavior of a biped robot recovering a statically stable state under two conditions: an unstable initial posture and an impulsive external force.

Publisher

World Scientific Pub Co Pte Lt

Subject

Artificial Intelligence,Mechanical Engineering

Link

https://www.worldscientific.com/doi/pdf/10.1142/S0219843605000351

Reference8 articles.

1. Biped Locomotion

2. Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point

3. Modeling and control of biped robot dynamics

4. Efficient Dynamic Simulation of a Quadruped Using a Decoupled Tree-Structure Approach

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