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 Poincare return map method. We show that none of these two methods can give us a general qualification of bipedal walking stability.
|Title of host publication||Proceedings of the 2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots, 15-18 November 2010, Darmstadt, Germany|
|Editors||N. Ando, S. Balakirsky, T. Hemker, M. Reggiani, O. Stryk, van|
|Place of Publication||Berlin|
|Publication status||Published - 2010|
|Name||Lecture Notes in Computer Science|