Study on walking stabilities of a biped robot in considering the distribution of ground reacting forces

被引：0

作者：

Ke, Xianxin ^{[1
]}

Gong, Zhenbang ^{[1
]}

Wu, Jiaqi ^{[1
]}

机构：

[1] Shanghai Univ, Sch Electromech Engn & Automat, Shanghai 200072, Peoples R China

来源：

IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2006年

关键词：

biped robot; ground reacting force; distribution; stability;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Through analyzing the distribution of the normal reacting forces from the ground to the support foot, the stability condition of keeping the support foot to be in fully contacting with the ground is obtained. The theory basis of cutting a slot under the foot can improve the contact conditions between the foot and the ground is studied A variety of states of elastic contact between the support foot and the ground due to the varieties of gravity and inertial forces acting on the robot are studied The full necessary and sufficient conditions of dynamical stable walking without falling down and slippage during the single support phase are obtained.

引用

页码：1636 / +

页数：2

共 9 条

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