Stability index for biped robot moving on rough terrain

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

研究成果: Article

11 引用 (Scopus)


In this paper, a stability index based on the ZMP (zero-moment point) for biped robots moving on rough terrain is proposed. The proposed method projects a support polygon on to a virtual plane and sets a virtual ZMP on it. In rough terrain, using the proposed method, stability check and trajectory planning are able to be treated as the case of flat terrain. The validity of the proposed method was confirmed by some simulations and experiments.

ジャーナルieej transactions on industry applications
出版物ステータスPublished - 2009 7 30


ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


Sato, T., Sakaino, S., & Ohnishi, K. (2009). Stability index for biped robot moving on rough terrain. ieej transactions on industry applications, 129(6), 5+571-577.