Abstract
Stability of bipedal locomotion is analyzed using a model of a planar biped written in the framework of systems with unilateral constraints. Based on this model, two different stable walking gaits are derived: one which fulfills the widely used criterion of the Zero Moment Point (ZMP) and another one violating this criterion. Both gaits are determined using systematic model-based designs. The model and the two gaits are used in simulations to illustrate conservatisms of two commonly used methods for stability analysis of bipedal walking: the ZMP criterion and Poincaré return map method. We show that none of these two methods can give us a general qualification of bipedal walking stability.
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van Zutven, P., Kostić, D., Nijmeijer, H. (2010). On the Stability of Bipedal Walking. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2010. Lecture Notes in Computer Science(), vol 6472. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17319-6_47
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DOI: https://doi.org/10.1007/978-3-642-17319-6_47
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-17318-9
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