Stability analysis of walking robots based on leg-end supporting moments

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2000, Pages 2834-2839

  Zhou, Debao ^a   Low, K H ^a   Zielinska, Teresa ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

[No Author keywords available]

Indexed keywords

INTERNAL ROBOT SENSORS; LEG END SUPPORTING MOMENTS; STABILITY ANALYSIS; WALKING ROBOTS;

COMPUTER SIMULATION; IMAGE SENSORS; MACHINE DESIGN; MOTION PLANNING; NUMERICAL METHODS; ROBOT APPLICATIONS; STABILITY;

MOBILE ROBOTS;

EID: 0033726629     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. Nagy, P.V., Desa, S. and Whittaker, W.L., "Energy-based Stability Measures for Reliable Locomotion of Statically Stable Walkers: Theory and Application", The International Journal of Robotics Research, vol. 13, no.3, pp. 272-287, June 1994.
2. McGhee, D. A. and Frank, A. A., "On the Stability Properties of Quadruped Creeping Gait", Mathematics of Bioscience, vo1.3, no. 4, pp. 331-351, 1968
3. Nagy, P.V., Whittaker, W.L. and Desa, S., "A Walking Prescription for Statically-Stable Walkers Based on Walkernerrain Interaction", Proceedings of IEEE International Conference on Robotics and Automation, pp. 149 -156, 1992.
4. Messuri, D. A. and Klein, C. A., "Automation Body Regulation for Maintaining Stability of a Legged Vehicle during rough terrain Locomotion", IEEE J. Robot. Automation, vol. 1, no. 3, pp.132-141, 1985.
5. Dong-Oh Kang, Yun-Jung Lee, Seung-Ha Lee, Yeh Sun Hong and Zeungnam Bien, "A Study on an Adaptive Gait for a Quadruped Walking Robot under Extemal Forces", Proceedings of IEEE International Conference on Robotics and Automation, pp. 2777-2782, 1997.
6. Yoneda, K. and Hirose, S., "Tumble Stability Criterion of Integrated Locomotion and Manipulation", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 870-876,1996.
7. M. Vukobratovic, et. al., "On the Stability of Biped Locomotion", IEEE Trans. Biomedical Engineering, vol. BME-17, no. 1, 1970.
8. st IEEE-CISM Workshop on Robot Motion and Control (RoMoCo'99). pp. 59-65, IEEE Cat. No. 99EX353, Kiekrz, Poland, June 28-29, 1999.
9. Zi-Kun Wang, The Manual for the Frequently Used Mathematics Formula. Choneai Publication. Jan. 1991.
10. Inagaki, K. and Kobayashi, H., "Dynamical motion control for quadruped walking with autonomous distributed system", Proceedings of the IEEE/RSI/GI International Conference on Intelligent Robots and Systems, pp. 1004 -1010, 1994.
11. Debao Zhou, K. H. Low and Teresa Zielinska, "A Friction Constraint Optimization Method for the Force Distribution of Quadruped Robots", Robotica, 2000 (in press).
12. Y. Nakamura, Advanced Robotics: Redundancy and Optimization, Addison-Wesley, Reading, Massachusetts, USA, 1991.
13. Fan-Tien Cheng, Hao-Lun Lee and Onn, D.E., "Increasing the locomotive stability margin of multilegged vehicles", Proceedings of 1999 IEEE International Conference on Robotics and Automation, pp. 1708 -1714, 1999.