Stability Index for Biped Robot Moving on Rough Terrain

• Sato Tomoya

  Department of System Design Engineering, Keio University

• Sakaino Sho

  Department of System Design Engineering, Keio University

• Ohnishi Kouhei

  Department of System Design Engineering, Keio University

Bibliographic Information

Other Title

• 2足歩行ロボットの不整地における安定性指標
• 2ソク ホコウ ロボット ノ フセイチ ニ オケル アンテイセイ シヒョウ

Abstract

In this paper, a stability index based on the ZMP (zero-moment point) for biped robots moving on rough terrain is proposed. The proposed method projects a support polygon on to a virtual plane and sets a virtual ZMP on it. In rough terrain, using the proposed method, stability check and trajectory planning are able to be treated as the case of flat terrain. The validity of the proposed method was confirmed by some simulations and experiments.

Journal

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 129 (6), 571-577, 2009

  The Institute of Electrical Engineers of Japan

Keywords

• Biped robot
• stability index
• ZMP
• rough terrain

Details

• CRID: 1390001204658991872
• NII Article ID: 10024776423
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.129.571
• ISSN: 13488163
• ISSN: 09136339
• NDL BIB ID: 10326128
• Web Site: http://id.ndl.go.jp/bib/10326128
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10326128
• Web Site: https://www.jstage.jst.go.jp/article/ieejias/129/6/129_6_571/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed