TY - GEN
T1 - Contact-dependent balance stability of walking robots
AU - Mummolo, Carlotta
AU - Peng, William Z.
AU - Gonzalez, Carlos
AU - Kim, Joo H.
N1 - Publisher Copyright:
Copyright © 2017 ASME.
PY - 2017
Y1 - 2017
N2 - A novel theoretical framework for the identification of the balance stability regions of biped systems is implemented on a real robotic platform. With the proposed method, the balance stability capabilities of a biped robot are quantified by a balance stability region in the state space of center of mass (COM) position and velocity. The boundary of such a stability region provides a threshold between balanced and falling states for the robot by including all possible COM states that are balanced with respect to a specified feet/ground contact configuration. A COM state outside of the stability region boundary is the sufficient condition for a falling state, from which a change in the specified contact configuration is inevitable. By specifying various positions of the robot's feet on the ground, the effects of different contact configurations on the robot's balance stability capabilities are investigated. Experimental walking trajectories of the robot are analyzed in relationship with their respective stability boundaries, to study the robot balance control during various gait phases.
AB - A novel theoretical framework for the identification of the balance stability regions of biped systems is implemented on a real robotic platform. With the proposed method, the balance stability capabilities of a biped robot are quantified by a balance stability region in the state space of center of mass (COM) position and velocity. The boundary of such a stability region provides a threshold between balanced and falling states for the robot by including all possible COM states that are balanced with respect to a specified feet/ground contact configuration. A COM state outside of the stability region boundary is the sufficient condition for a falling state, from which a change in the specified contact configuration is inevitable. By specifying various positions of the robot's feet on the ground, the effects of different contact configurations on the robot's balance stability capabilities are investigated. Experimental walking trajectories of the robot are analyzed in relationship with their respective stability boundaries, to study the robot balance control during various gait phases.
UR - http://www.scopus.com/inward/record.url?scp=85034846811&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85034846811&partnerID=8YFLogxK
U2 - 10.1115/DETC2017-68272
DO - 10.1115/DETC2017-68272
M3 - Conference contribution
AN - SCOPUS:85034846811
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 41st Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
Y2 - 6 August 2017 through 9 August 2017
ER -