Force-based stability margin for multi-legged robots
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- 作者：Mahdi Agheli ; mmagheli@gmail.com" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Stephen. S. Nestinger ssnestinger@gmail.com" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae
- 关键词：Force-based stability margin ; Foot Force Stability Margin (FFSM) ; Modified Foot Force Stability Margin (MFFSM) ; Legged robots ; Normal foot force
- 刊名：Robotics and Autonomous Systems
- 出版年：2016
- 出版时间：September 2016
- 年：2016
- 卷：83
- 期：Complete
- 页码：138-149
- 全文大小：3680 K
文摘
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FFSM stands for Foot Force Stability Margin, a new force-based stability criterion for legged robots.
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FFSM has been modified (MFFSM) to adjust stability sensitivity of the robot.
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FFSM/MFFSM can be used to determine system stability in real-time usable for stability control.
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FFSM and MFFSM are compared with the Force Angle Stability Margin, and the Zero Moment Point.
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Both simulation and physical experiments validate the proposed stability margin (FFSM and MFFSM).