A novel theoretical framework for the identification of the balance stability regions of biped systems is implemented on a real robotic platform. With the proposed method, the balance stability capabilities of a biped robot are quantified by a balance stability region in the state space of center of mass (COM) position and velocity. The boundary of such a stability region provides a threshold between balanced and falling states for the robot by including all possible COM states that are balanced with respect to a specified feet/ground contact configuration. A COM state outside of the stability region boundary is the sufficient condition for a falling state, from which a change in the specified contact configuration is inevitable. By specifying various positions of the robot’s feet on the ground, the effects of different contact configurations on the robot’s balance stability capabilities are investigated. Experimental walking trajectories of the robot are analyzed in relationship with their respective stability boundaries, to study the robot balance control during various gait phases.
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ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 6–9, 2017
Cleveland, Ohio, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5817-2
PROCEEDINGS PAPER
Contact-Dependent Balance Stability of Walking Robots
Carlotta Mummolo,
Carlotta Mummolo
New York University, Brooklyn, NY
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William Z. Peng,
William Z. Peng
New York University, Brooklyn, NY
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Carlos Gonzalez,
Carlos Gonzalez
New York University, Brooklyn, NY
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Joo H. Kim
Joo H. Kim
New York University, Brooklyn, NY
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Carlotta Mummolo
New York University, Brooklyn, NY
William Z. Peng
New York University, Brooklyn, NY
Carlos Gonzalez
New York University, Brooklyn, NY
Joo H. Kim
New York University, Brooklyn, NY
Paper No:
DETC2017-68272, V05AT08A035; 7 pages
Published Online:
November 3, 2017
Citation
Mummolo, C, Peng, WZ, Gonzalez, C, & Kim, JH. "Contact-Dependent Balance Stability of Walking Robots." Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5A: 41st Mechanisms and Robotics Conference. Cleveland, Ohio, USA. August 6–9, 2017. V05AT08A035. ASME. https://doi.org/10.1115/DETC2017-68272
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