A novel stability criterion for underactuated biped robot

Abstract

A novel stability criterion for underactuated biped robot is presented. The underactuated biped robot contacts ground with points and has not feet while walking and running. A stability definition of biped robot is given. The Loss Balance Degree(LBD) is proposed as a novel stability criterion for underactuated biped robot according to the stability definition given before. The LBD with the Linear Inverted Pendulum Mode (LIPM) of biped robot is computed specifically. The LBD is entitled to stability criterion by analysing the basic properties that any stability criterion should has. The stability conditions for underactuated biped gait are concluded using the LBD.