English   español  
Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/8135
logo share SHARE   Add this article to your Mendeley library MendeleyBASE
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Exportar a otros formatos:


An Improved Energy Stability Margin for An Improved Energy Stability Margin for

AuthorsGarcía Armada, Elena ; González de Santos, Pablo
KeywordsWalking robot
stability margin
static stability
dynamic stability
stability-level curves
Issue DateFeb-2005
PublisherCambridge University Press
CitationRobótica, 23 (1) pp. 13-20, 2005
AbstractSeveral static and dynamic stability criteria have been defined in the course of walking-robot history. Nevertheless, previous work on the classification of stability criteria for statically stable walking machines (having at least four legs) reveals that there is no stability margin that accurately predicts robot stability when inertial and manipulation effects are significant. In such cases, every momentum- based stability margin fails. The use of an improper stability criterion yields unavoidable errors in the control of walking robots. Moreover, inertial and manipulation effects usually appear in the motion of these robots when they are used for services or industrial applications. A new stability margin that accurately measures robot stability considering dynamic effects arising during motion is proposed in this paper. The new stability margin is proven to be the only exact stability margin when robot dynamics and manipulation forces exist. Numerical comparison has been conducted to support the margin’s suitability. Stability-level curves are also presented on the basis of a suitable stability margin to control the trajectory of the center of gravity during the support phase.
Appears in Collections:(IAI) Artículos
Files in This Item:
File Description SizeFormat 
draft_MEEDN_Rob.pdf1,17 MBAdobe PDFThumbnail
Show full item record
Review this work

WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.