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Título

A classification of stability margins for walking robots

AutorGarcía Armada, Elena ; Estremera, Joaquín; González de Santos, Pablo
Palabras clavestability margins
walking robots
Fecha de publicación2002
EditorProfessional Engineering Publishing
CitaciónInternational conference on Climbing and Walking Robots (5º. 2002. Paris, France) : proceedings pp. 205-212.
SerieCLAWAR 2002
ResumenThroughout 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 succeeding. By the other hand, if the optimum criterion is found the robot gait can also be optimized. In this work, the stability criteria that have been applied to walking robots with at least four legs are examined attending to the stability margin on different static and dynamic situations. As a result, a qualitative classification of stability criteria for walking machines is proposed so that the proper criterion can be chosen for every desired application.
Versión del editorhttp://www.springerlink.com
URIhttp://hdl.handle.net/10261/8031
ISBN1-86058-380-6
Aparece en las colecciones: (IAI) Comunicaciones congresos
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