Tumble stability criterion of integrated locomotion and manipulation

  title={Tumble stability criterion of integrated locomotion and manipulation},
  author={Kan Yoneda and Shigeo Hirose},
In this paper we discuss methods to evaluate the stability of robots which execute manipulations and locomotion. The relationship between the center of gravity projection point and the ground contact points is an easy-to-use criterion which has been utilized for a long time, but it does not take into consideration manipulation counter-force. Thus, in this paper, we propose a new concept called "tumble stabiliq". This is a concept which considers the tumble direction when all ground contact… CONTINUE READING
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