On the stability of walking systems

Pierre-Brice Wieber (1)

1 BIP - Biped Robot

We reconsider here the stability criteria usually proposed for the analysis of walking systems, exhibiting their limits and their ambiguity. We propose then some new criteria based on a thorough analysis of the dynamics of walking systems and precise definitions concerning their stability. Numerical methods are presented then to deal with these new criteria.

Domaines: Robotique [cs.RO]

Pierre-Brice Wieber. On the stability of walking systems. Proceedings of the International Workshop on Humanoid and Human Friendly Robotics, 2002, Tsukuba, Japan. ⟨inria-00390866⟩