3 accepted papers
This paper demonstrates the practical performance of a new theory of balance control that has been shown in simulation to out-perform earlier balance control theories in the sense of allowing the robot to make larger and faster movements while still maintaining its balance. The case studied here is…
This paper presents the first practical demonstration of a recently developed theory of balance control that aims to achieve high performance in the sense of allowing a robot to make large, fast movements while maintaining its balance on a narrow support. This theory includes a simple method of lean…
This paper first presents a formula to predict the largest balance disturbance from which a legged robot can recover without taking a step. It then presents an actuator design criterion derived from this formula that maximizes the robot's ability to recover. In this study, it is assumed that the rob…