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dc.contributor.authorGarcía Armada, Elena-
dc.contributor.authorEstremera, Joaquín-
dc.contributor.authorGonzález de Santos, Pablo-
dc.date.accessioned2008-11-05T10:25:00Z-
dc.date.available2008-11-05T10:25:00Z-
dc.date.issued2002-
dc.identifier.citationRobotica 20(6)595-606, 2002en_US
dc.identifier.issn0263-5747-
dc.identifier.urihttp://hdl.handle.net/10261/8219-
dc.description.abstractSeveral static and dynamic stability criteria have been defined in the course of walking robot history. Nevertheless, different applications may require different criteria and, to the authors' best knowledge, there is no qualitative classification of such stability measurements. Using the wring stability criterion to control a robot gait may prevent the task from succeeding. Furthermore, if the optimum criterion is found, the robot gait can also be optimized. In this paper, the stability criteria that have been applied to walking robots with at least four legs are examined in terms of their stability margins in 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.en_US
dc.format.extent413015 bytes-
dc.format.mimetypeapplication/pdf-
dc.language.isoengen_US
dc.publisherCambridge University Pressen_US
dc.rightsopenAccessen_US
dc.subjectWalking roboten_US
dc.subjectstability marginen_US
dc.subjectstatic stabilityen_US
dc.subjectdynamic stabilityen_US
dc.titleA Comparative Study of Stability Margins for Walking Machinesen_US
dc.typeartículoen_US
dc.description.peerreviewedPeer revieweden_US
dc.relation.publisherversionhttp://journals.cambridge.org/action/displayAbstract;jsessionid=4D7759C12DAE2D62BC879C1DDAE22D6B.tomcat1?fromPage=online&aid=133609en_US
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