Static Stability Criterion for Walking Robots on Irregular Terrains.

Section-Map Stability Criterion for Biped Robots

The importance of stability for dynamical systems is well-known. Any real system, including biped robots, need to be working under all kinds of disturbances. Whether the biped robot can effectively keep the planned motion under these disturbances is a fundamental property, and that is the explanation of stability intuitively. Stability of biped walking is the key problem in the theoretical fram...

Pattern Generation for Walking on Slippery Terrains

In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as a trade off between realizing a desired walking velocity and preserving robust foot-ground contact (slippage and tipover avoidance). Exploiting this formulation inside MPC, we show that safe walking on various terrain...

Walking Pattern Generation on Inclined and Uneven Terrains for Humanoid Robots

This paper introduces a walking pattern generation method on an inclined terrain in both pitch and roll directions, and uneven terrain. The walking pattern generation method is based on a modifiable walking pattern generator (MWPG) which allows a zero moment point (ZMP) variation in real-time. As a navigational command set, a 3-D command state (CS) is defined, which consists of single and doubl...

Virtual Reality to Simulate Adaptive Walking in Unstructured Terrains for Multi-Legged Robots

A Classification of Stability Margins for Walking Robots

Throughout the history of walking robots several static and dynamic stability criteria have been defined. Nevertheless, different applications may require different stability criteria and, up to the authors’ best knowledge, there is no qualitative classification of such stability measurements. Controlling a robot gait by means of using the wrong stability criterion may prevent the task from suc...