We build on previous works advocating the use of the Gravito-Inertial Wrench Cone (GIWC) as a general contact stability criterion (a “ZMP for non-coplanar contacts”). We show how to compute this wrench cone from the friction cones of contact forces by using an intermediate representation, the surface contact wrench cone, which is the minimal representation of contact stability for each surface ...

Gait planning based on linear inverted pendulum (LIPM) on structured road surface can be quickly generated because of the simple model and definite physical meaning. However, over-simplification of the model and discontents of zero velocity and acceleration boundary conditions when robot starts and stops walking lead to obvious difference between the model and the real robot. In this paper, par...

This paper presents a new technique called motion balance filtering, which corrects an unbalanced motion to a balanced one while preserving the original motion characteristics as much as possible. Differently from previous approaches that deal only with the balance of static posture, we solve the problem of balancing a dynamic motion. We achieve dynamic balance by analyzing and controlling the ...

In this paper the design of a biped robot actuated with Shape Memory Alloy (SMA) springs with minimum degrees of freedom is presented. SMA springs are a class of smart materials that are known for their high power to mass and volume ratios. It was shown that utilizing spring type of SMAs have many advantages as large deformation, smooth motion, silent and clean movement compared to ordinary typ...

This paper introduces a new motion planning algorithm for a biped robot. A geometric constraint equation derived by reshaping the existing ZMP equation enables one to treat the kinematics of the biped robot as a "redundant degrees of freedom" system. Using the ZMP constraint equation, a sequential redundancy resolution algorithm is proposed, which ensures the ZMP trajectory, the planned operati...

In the biped robot’s walking process, walking parameters have important influence on its stability. In this article we based on the ZMP criterion, using the relationship between ZMP and the support area to judge the walking stability. Calculate the size of stability margin to analyze the influence of parameters’ change on stability. By programming in MATLAB and simulating in ADAMS, get the effe...

math.CT/0512076 KCL-MTH-05-15 ZMP-HH/05-23 Hamburger Beiträge zur Mathematik Nr. 225 Two-dimensional conformal field theory (CFT) can be defined through its correlation functions. These must satisfy certain consistency conditions which arise from the cutting of world sheets along circles or intervals. The construction of a (rational) CFT can be divided into two steps, of which one is complex-an...

Bipedal humanoid robots are intrinsically unstable against unforeseen perturbations. Conventional zero moment point (ZMP)-based locomotion algorithms can reject perturbations by incorporating sensory feedback, but they are less e®ective than the dynamic full body behaviors humans exhibit when pushed. Recently, a number of biomechanically motivated push recovery behaviors have been proposed that...

In this paper, we study different manipulating ways which can be used in Robotic Devices, to make the Robots Responsive to Obstacles while performing a given Task. Differential kinematics and the kineto-static manipulability indices of multiple cooperating robot arms, including active and passive joints and actuators are given efforts and researched for developing enhancive Robots. Therefore, m...

Most of the existing control schemes for walking bipeds are based on the so-called zero-moment point (ZMP) stability condition. Such schemes have three common characteristics: 1) bending at knees thus to avoid singular positions; 2) closed-loop controllers for trajectory tracking at the joints, 3) using higher power actuators, in particular at ankles, to compensate for the rotational motion (fa...