Stability index for biped robot moving on rough terrain

IEEJ Transactions on Industry Applications

Volumn 129, Issue 6, 2009, Pages

  Sato, Tomoya ^a   Sakaino, Sho ^a   Ohnishi, Kouhei ^a  

^a KEIO UNIVERSITY   (Japan)

Author keywords

Biped robot; Rough terrain; Stability index; ZMP

Indexed keywords

ROBOTS; STABILITY;

BIPED ROBOT; ROUGH TERRAINS; STABILITY CHECK; STABILITY INDICES; SUPPORT POLYGON; TRAJECTORY PLANNING; VIRTUAL PLANE; ZMP (ZERO MOMENT POINT);

LANDFORMS;

EID: 67651151120     PISSN: 09136339     EISSN: 13488163     Source Type: Journal    
DOI: 10.1541/ieejias.129.571     Document Type: Article

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