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ICRA
2002
IEEE

Stability of Statically Balanced Stances for Legged Robots with Compliance

9 years 5 months ago
Stability of Statically Balanced Stances for Legged Robots with Compliance
This paper presents a new criterion for the asymptotic stance stability of a statically balanced legged robot. Typically, the static balance criterion only considers that the centre of mass is projected within the support area. This work shows that when the combined system is not stiff enough (as specified in the criterion), a so called “statically stable” stance is actually unstable. The criterion is derived analytically and also verified in experiment.
Christian Ridderström
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Christian Ridderström
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