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Stability of biped robotic walking with frictional constraints

Published online by Cambridge University Press:  19 October 2012

Xuefeng Zhou ,
Yisheng Guan ,
Li Jiang ,
Haifei Zhu ,
Chuanwu Cai ,
Wenqiang Wu  and
Hong Zhang
Xuefeng Zhou
Affiliation:
Biomimetic and Intelligent Robotics Lab (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong 510640, China
Yisheng Guan*
Affiliation:
Biomimetic and Intelligent Robotics Lab (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong 510640, China
Li Jiang
Affiliation:
Biomimetic and Intelligent Robotics Lab (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong 510640, China
Haifei Zhu
Affiliation:
Biomimetic and Intelligent Robotics Lab (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong 510640, China
Chuanwu Cai
Affiliation:
Biomimetic and Intelligent Robotics Lab (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong 510640, China
Wenqiang Wu
Affiliation:
Biomimetic and Intelligent Robotics Lab (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong 510640, China
Hong Zhang
Affiliation:
Biomimetic and Intelligent Robotics Lab (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong 510640, China
*
*Corresponding author. e-mail: ysguan@scut.edu.cn
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Summary

Tipping-over and slipping, which are related to zero moment point (ZMP) and frictional constraint respectively, are the two most common instability forms of biped robotic walking. Conventional criterion of stability is not sufficient in some cases, since it neglects frictional constraint or considers translational friction only. The goal of this paper is to fully address frictional constraints in biped walking and develop corresponding stability criteria. Frictional constraints for biped locomotion are first analyzed and then the method to obtain the closed-form solutions of the frictional force and moment for a biped robot with rectangular and circular feet is presented. The maximum frictional force and moment are calculated in the case of ZMP at the center of contact area. Experiments with a 6-degree of freedom active walking biped robot are conducted to verify the effectiveness of the stability analysis.

Keywords

StabilityBiped walkingFrictional constraintLegged robotModular robot

Information

Type
Articles
Information
Robotica , Volume 31 , Issue 4 , July 2013 , pp. 573 - 588
Copyright
Copyright © Cambridge University Press 2012 

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