On the stability of walking systems

Pierre-Brice Wieber 1
1 BIP - Biped Robot
Inria Grenoble - Rhône-Alpes
Abstract : 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.
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Pierre-Brice Wieber. On the stability of walking systems. Proceedings of the International Workshop on Humanoid and Human Friendly Robotics, 2002, Tsukuba, Japan. ⟨inria-00390866⟩

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