Discriminating on dynamical stability of biped walking |
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Authors: | Yuan-Zong Li and Xue-Xin Wang |
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Institution: | (1) Taiyuan Univeristy of Technology, Taiwan |
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Abstract: | In paper, a biped with 7 rigids and 12 degrees of freedom is taken as a research mould. The discriminating conditions on dynamical walking stability are derived and discussed in detail. The discriminating condition could be used to check biped motive planning and to modify it. |
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Keywords: | biped walking dynamical stability discriminating condition |
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