inria-00390866, version 1
On the stability of walking systems
Proceedings of the International Workshop on Humanoid and Human Friendly Robotics (2002)
Résumé : 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.
- a – INRIA
- 1 : BIP (INRIA Rhône-Alpes)
- INRIA
- Domaine : Informatique/Robotique
- inria-00390866, version 1
- http://hal.inria.fr/inria-00390866
- oai:hal.inria.fr:inria-00390866
- Contributeur : Pierre-Brice Wieber
- Soumis le : Mardi 2 Juin 2009, 21:30:48
- Dernière modification le : Mercredi 1 Juillet 2009, 17:11:40
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