Monitoring the Postural Stability of Planar Bipedal Robots using the Moment-Height Stability Measure

Research Assistant, Nonlinear Systems Research Laboratory (NSRL), Department of Mechanical and Manufacturing Engineering, University of Manitoba, WinnipegManitoba, Canada

Takhmar, Amir

Research Assistant, Department of Electrical and Computer Engineering, University of Western Ontario, LondonOntario, Canada

Moosavian, S. Ali. A.

Full Professor, Advanced Robotics & Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering, K. N. Toosi University of TechnologyTehran, Iran

Lingua:: Inglese

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Monitoring the Postural Stability of Planar Bipedal Robots using the Moment-Height Stability Measure

Mansoor Alghooneh

Amir Takhmar

S. Ali. A. Moosavian

Pubblicato online: 01 giu 2012

Pagine: 329 - 346

Accettato: 14 mag 2012

DOI: https://doi.org/10.21307/ijssis-2017-484

Parole chiaveBipedal robots, Postural Stability, Moment-Height Stability (MHS), Zero-Moment Point (ZMP), Trajectory Planning

© 2012 Mansoor Alghooneh et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Parole chiave
Bipedal robots, Postural Stability, Moment-Height Stability (MHS), Zero-Moment Point (ZMP), Trajectory Planning