A universal stability criterion of the foot contact of legged robots - adios ZMP

@article{Hirukawa2006AUS,
  title={A universal stability criterion of the foot contact of legged robots - adios ZMP},
  author={Hirohisa Hirukawa and Shizuko Hattori and Kensuke Harada and Shuuji Kajita and Kenji Kaneko and Fumio Kanehiro and Kiyoshi Fujiwara and Mitsuharu Morisawa},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
  year={2006},
  pages={1976-1983}
}
This paper proposes a universal stability criterion of the foot contact of legged robots. The proposed method checks if the sum of the gravity and the inertia wrench applied to the COG of the robot, which is proposed to be the stability criterion, is inside the polyhedral convex cone of the contact wrench between the feet of a robot and its environment. The criterion can be used to determine the strong stability of the foot contact when a robot walks on an arbitrary terrain and/or when the… CONTINUE READING

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