DYNAMICS AND m-STABILITY OF LEGGED ROBOTS

摘要

This article presents a theoretical approach for modeling and controlling the stability of legged robots. The new proposed concept is two-fold: (a) the definition of the (m-d)-stability and (b) the definition of the Virtual Generalized Stabilizer. These concepts are developed throughout a theoretical and general approach to the dynamics of legged robots. Numerical results are analyzed through the simulated behavior of a biped robot recovering a statically stable state under two conditions: an unstable initial posture and an impulsive external force.