NDLI: Static stable regions acording to Center Of Press to quantify humanoid walking stability

Content Provider	IEEE Xplore Digital Library
Author	Kuo-Yang Tu Yun-Hsiang Sun
Copyright Year	2011
Description	Author affiliation: Institute of System Information and Control, National Kaohsiung First University of Science and Technology, 2, Juoyue Road, Nantsu, Taiwan, R. O. C. (Kuo-Yang Tu; Yun-Hsiang Sun)
Abstract	Usually a walking pattern can be only roughly distinguished into stable or unstable. The evaluation of a humanoid walking stability is difficult to quantify. In this paper, static stable regions according to Center Of Press (COP) to quantify humanoid walking stability margins are proposed. Firstly, based on four force sensors, the COP position of a humanoid robot in single and double support phases is derived. And the major joint variable to influence the COP position is extracted. Finally, the COP regions of humanoid in stable standing with respect to major joint changes are measured. The measured COP regions for humanoid robot stable standing are thus called static stable regions. They are very useful for the identification of humanoid robot walking stability. Four static stable regions used to connect a stable walking pattern are also included.
Starting Page	172
Ending Page	177
File Size	699996
Page Count	6
File Format	PDF
ISBN	9781457708190
e-ISBN	9781457708206
DOI	10.1109/ROSE.2011.6058526
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-17
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Humanoid robots Joints Stability criteria Torque Force sensors walking pattern humanoid static stable region center of press
Content Type	Text
Resource Type	Article

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