Legged robots that balance
A review of research on walking vehicles
The robotics review 1
An investigation of walker/terrain interaction
An investigation of walker/terrain interaction
Machines That Walk: The Adaptive Suspension Vehicle
Machines That Walk: The Adaptive Suspension Vehicle
Dynamic Effects in Statically Stable Walking Machines
Journal of Intelligent and Robotic Systems
Optimization of the locomotion of a legged vehicle with respect to maneuverability (robot, walking, hexapod, stability)
Dealing with internal and external perturbations on walking robots
Autonomous Robots
Research on mobile manipulator tip-over stability and compensation
ROCOM'08 Proceedings of the 8th WSEAS International Conference on Robotics, Control and Manufacturing Technology
Dynamically diverse legged locomotion for rough terrain
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A new modular schema for the control of tumbling robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Three-dimensional impact: energy-based modeling of tangential compliance
International Journal of Robotics Research
Multiple impacts: A state transition diagram approach
International Journal of Robotics Research
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Several static and dynamic stability criteria have been defined in the course of walking-robot history. Nevertheless, previous work on the classification of stability criteria for statically stable walking machines (having at least four legs) reveals that there is no stability margin that accurately predicts robot stability when inertial and manipulation effects are significant. In such cases, every momentum-based stability margin fails. The use of an unsuitable stability criterion yields unavoidable errors in the control of walking robots. Moreover, inertial and manipulation effects usually appear in the motion of these robots when they are used for services or industrial applications. A new stability margin that accurately measures robot stability considering dynamic effects arising during motion is proposed in this paper. The new stability margin is proven to be the only exact stability margin when robot dynamics and manipulation forces exist. Numerical comparison has been conducted to support the margin's suitability. Stability-level curves are also presented on the basis of a suitable stability margin to control the trajectory of the center of gravity during the support phase.