Contact-dependent balance stability of walking robots

Carlotta Mummolo, William Z. Peng, Carlos Gonzalez, Joo Hyun Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A novel theoretical framework for the identification of the balance stability regions of biped systems is implemented on a real robotic platform. With the proposed method, the balance stability capabilities of a biped robot are quantified by a balance stability region in the state space of center of mass (COM) position and velocity. The boundary of such a stability region provides a threshold between balanced and falling states for the robot by including all possible COM states that are balanced with respect to a specified feet/ground contact configuration. A COM state outside of the stability region boundary is the sufficient condition for a falling state, from which a change in the specified contact configuration is inevitable. By specifying various positions of the robot's feet on the ground, the effects of different contact configurations on the robot's balance stability capabilities are investigated. Experimental walking trajectories of the robot are analyzed in relationship with their respective stability boundaries, to study the robot balance control during various gait phases.

Original languageEnglish (US)
Title of host publication41st Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume5A-2017
ISBN (Electronic)9780791858172
DOIs
StatePublished - Jan 1 2017
EventASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017 - Cleveland, United States
Duration: Aug 6 2017Aug 9 2017

Other

OtherASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
CountryUnited States
CityCleveland
Period8/6/178/9/17

Fingerprint

Stability Region
Robot
Contact
Robots
Barycentre
Dependent
Configuration
Biped Robot
Gait
Robotics
State Space
Trajectory
Sufficient Conditions
Trajectories

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Mummolo, C., Peng, W. Z., Gonzalez, C., & Kim, J. H. (2017). Contact-dependent balance stability of walking robots. In 41st Mechanisms and Robotics Conference (Vol. 5A-2017). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2017-68272

Contact-dependent balance stability of walking robots. / Mummolo, Carlotta; Peng, William Z.; Gonzalez, Carlos; Kim, Joo Hyun.

41st Mechanisms and Robotics Conference. Vol. 5A-2017 American Society of Mechanical Engineers (ASME), 2017.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mummolo, C, Peng, WZ, Gonzalez, C & Kim, JH 2017, Contact-dependent balance stability of walking robots. in 41st Mechanisms and Robotics Conference. vol. 5A-2017, American Society of Mechanical Engineers (ASME), ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017, Cleveland, United States, 8/6/17. https://doi.org/10.1115/DETC2017-68272
Mummolo C, Peng WZ, Gonzalez C, Kim JH. Contact-dependent balance stability of walking robots. In 41st Mechanisms and Robotics Conference. Vol. 5A-2017. American Society of Mechanical Engineers (ASME). 2017 https://doi.org/10.1115/DETC2017-68272
Mummolo, Carlotta ; Peng, William Z. ; Gonzalez, Carlos ; Kim, Joo Hyun. / Contact-dependent balance stability of walking robots. 41st Mechanisms and Robotics Conference. Vol. 5A-2017 American Society of Mechanical Engineers (ASME), 2017.
@inproceedings{996886dbdc2649b1997c2515255a1e4a,
title = "Contact-dependent balance stability of walking robots",
abstract = "A novel theoretical framework for the identification of the balance stability regions of biped systems is implemented on a real robotic platform. With the proposed method, the balance stability capabilities of a biped robot are quantified by a balance stability region in the state space of center of mass (COM) position and velocity. The boundary of such a stability region provides a threshold between balanced and falling states for the robot by including all possible COM states that are balanced with respect to a specified feet/ground contact configuration. A COM state outside of the stability region boundary is the sufficient condition for a falling state, from which a change in the specified contact configuration is inevitable. By specifying various positions of the robot's feet on the ground, the effects of different contact configurations on the robot's balance stability capabilities are investigated. Experimental walking trajectories of the robot are analyzed in relationship with their respective stability boundaries, to study the robot balance control during various gait phases.",
author = "Carlotta Mummolo and Peng, {William Z.} and Carlos Gonzalez and Kim, {Joo Hyun}",
year = "2017",
month = "1",
day = "1",
doi = "10.1115/DETC2017-68272",
language = "English (US)",
volume = "5A-2017",
booktitle = "41st Mechanisms and Robotics Conference",
publisher = "American Society of Mechanical Engineers (ASME)",

}

TY - GEN

T1 - Contact-dependent balance stability of walking robots

AU - Mummolo, Carlotta

AU - Peng, William Z.

AU - Gonzalez, Carlos

AU - Kim, Joo Hyun

PY - 2017/1/1

Y1 - 2017/1/1

N2 - A novel theoretical framework for the identification of the balance stability regions of biped systems is implemented on a real robotic platform. With the proposed method, the balance stability capabilities of a biped robot are quantified by a balance stability region in the state space of center of mass (COM) position and velocity. The boundary of such a stability region provides a threshold between balanced and falling states for the robot by including all possible COM states that are balanced with respect to a specified feet/ground contact configuration. A COM state outside of the stability region boundary is the sufficient condition for a falling state, from which a change in the specified contact configuration is inevitable. By specifying various positions of the robot's feet on the ground, the effects of different contact configurations on the robot's balance stability capabilities are investigated. Experimental walking trajectories of the robot are analyzed in relationship with their respective stability boundaries, to study the robot balance control during various gait phases.

AB - A novel theoretical framework for the identification of the balance stability regions of biped systems is implemented on a real robotic platform. With the proposed method, the balance stability capabilities of a biped robot are quantified by a balance stability region in the state space of center of mass (COM) position and velocity. The boundary of such a stability region provides a threshold between balanced and falling states for the robot by including all possible COM states that are balanced with respect to a specified feet/ground contact configuration. A COM state outside of the stability region boundary is the sufficient condition for a falling state, from which a change in the specified contact configuration is inevitable. By specifying various positions of the robot's feet on the ground, the effects of different contact configurations on the robot's balance stability capabilities are investigated. Experimental walking trajectories of the robot are analyzed in relationship with their respective stability boundaries, to study the robot balance control during various gait phases.

UR - http://www.scopus.com/inward/record.url?scp=85034846811&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85034846811&partnerID=8YFLogxK

U2 - 10.1115/DETC2017-68272

DO - 10.1115/DETC2017-68272

M3 - Conference contribution

AN - SCOPUS:85034846811

VL - 5A-2017

BT - 41st Mechanisms and Robotics Conference

PB - American Society of Mechanical Engineers (ASME)

ER -