Stability Analysis of Biped Walking

Abstract:

Tipping-over and slipping, which are related to zero moment point (ZMP) and frictional constraint respectively, are the most two common instability forms of biped robotic walking. Conventional criterion of stability is not sufficient in some cases, since it neglects frictional constraint or considers only translational friction. The goal of this article is to fully address frictional constraints in biped walking and develop corresponding stability criteria. Frictional constraints for biped locomotion are first analyzed and the method to obtain the closed-form solutions of the frictional force and moment for a biped robot with rectangular or circular feet is then presented. The maximum frictional force and moment are calculated in the case of ZMP at the center of contact area. Experiments are conducted to verify the effectiveness of our stability analysis.

• Periodical: Advanced Materials Research (Volume 569)
• Pages: 420-427
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.569.420
• Online since: September 2012
• Authors: Xue Feng Zhou, Peng Huang, Gong Zhang, Xian Shuai Chen
• Keywords: Biped Walking, Frictional Constraint, Pressure Distribution, Stability, ZMP

References

[1] S. R. Dahmen, H. Hinrichsen and A. Lysov: Journal of Statistical Mechanics Theory and Experiment. Vol. 3 (2005), p.1.

[2] A. Goswami: International Journal of Robotics Research. Vol. 18 (1999), No. 6, p.523.

[3] Y. Guan, X. Zhou, H. Zhu, in: Proc. IEEE Int. Conf. on Robotics and Automation, IEEE Conference Published, Shanghai (2011).

[4] K. Harada, S. Kajita, F. Kanehiro, and H. Hirukawa, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IEEE Conference Published, Las Vegas (2003).

DOI: 10.1109/iros.2005.1544955

[5] H. Hirukawa, S. Hattori, and K. Harada, in: Proc. IEEE Int. Conf. on Robotics and Automation, IEEE Conference Published, Orlando (2006).

[6] R. D. Howe and M. R. Cutkosky: The International Journal of Robotics Research, Vol. 15(1996), No. 6, P. 557.

[7] S. Kajita, K. Kaneko, K. Harada, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IEEE Conference Published, Edmonton (2004).

[8] Y. Ota, T. Tamaki, and K. Yoneda, in: Proc. IEEE Int. Conf. on Robotics and Automation, IEEE Conference Published, Taipei (2003).

[9] P. Sardain and G. Bessonnet: IEEE Transactions on Systems, Man and Cybernetics-PartA: Systems and Humans. Vol. 34(2004), No. 5, p.630.

DOI: 10.1109/tsmca.2004.832811

[10] M. Vukobratovic and B. Borovac: International Journal of Humanoid Robot. Vol. 1(2004), No. 1, p.157.

[11] M. Vukobratovic, B. Borovac: Biped Locomotion: Dynamics, Stability, Control and Applicarion. (Springer-Verlag Publications, 1990).

[12] K. Yoneda and S. Hirose, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IEEE Conference Published, Grenoble (1996).

[13] C. Zhu and A. Kawamura, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IEEE Conference Published, Beijing (2006).