Section-Map Stability Criterion for Biped Robots Part II: Applications and Experiments

Section-map stability criterion is a extension of Poincare return map, and is applicable not only to dynamic walking which ZMP criterion can not solve, but also to non-periodic walking which Poincare return map criterion cannot solve. By applying section-map stability criterion, several walking indices are defined, a planning method for walking patterns based on indices atlases is proposed, and the quantitative relationships between walking patterns and walking indices are presented in this paper. By this method, dynamic walking is realized by a planar biped robot THR-I, which can walk with the period of 0.64s, and the step of 0.56 leg lengths. By applying section-map stability criterion, the conditions of stable walking transition are analyzed. The effectiveness of the proposed methods is illustrated by simulation results.