A novel stability criterion for underactuated biped robot

Author

Sheng-jun, Peng ; Hai-tao, Shui ; Tao, Sheng ; Hong-xu, Ma

Author_Institution

Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha, China

fYear

2009

Firstpage

1912

Lastpage

1917

Abstract

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.

Keywords

legged locomotion; pendulums; stability criteria; linear inverted pendulum mode; loss balance degree; stability criterion; underactuated biped gait; underactuated biped robot; Biomimetics; Degradation; Educational institutions; Legged locomotion; Limit-cycles; Research and development; Robotics and automation; Robots; Stability analysis; Stability criteria;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on

Conference_Location

Guilin

Print_ISBN

978-1-4244-4774-9

Electronic_ISBN

978-1-4244-4775-6

Type

conf

DOI

10.1109/ROBIO.2009.5420550

Filename

5420550