Title :
The motion control of a statically stable biped robot on an uneven floor
Author :
Shih, Ching-Long ; Chiou, Chien-Jung
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Inst. of Technol., Taipei, Taiwan
fDate :
4/1/1998 12:00:00 AM
Abstract :
This work studies the motion control of a statically stable biped robot having seven degrees of freedom. Statically stable walking of the biped robot is realized by maintaining the center-of-gravity inside the convex region of the supporting foot and/or feet during both single-support and double-support phases. The main points of this work are framing the stability in an easy and correct way, the design of a bipedal statically stable walker, and walking on sloping surfaces and stairs
Keywords :
legged locomotion; mechanical stability; motion control; biped robot; motion control; sloping surfaces; stability; stable walking; stairs; statically stable; uneven floor; Actuators; Foot; Kinematics; Leg; Legged locomotion; Motion control; Robots; Rough surfaces; Stability; Surface roughness;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/3477.662765
