@inproceedings{e6aecba2f8c240418414009c62f0c3ef,
title = "Identification of balanced state domain for single-support legged mechanism",
abstract = "Balancing is one of the most important issues of biped mechanism. In this presentation, an enhanced definition of a balanced state is proposed and the balanced state manifold for single-support legged mechanism is calculated by using constrained optimization method. The algorithm iteratively solves for the maximum and minimum velocities for a set of joint variables and actuation capacities. In addition to the system parameters, the necessary and sufficient conditions for balancing, such as the Zero-Moment Point, positive normal reaction force, friction, and final static equilibrium, are implemented as constraints. The calculated balanced state manifold can be used as general balance criteria for the single-support legged mechanism. The proposed framework can also be extended to form the balanced state manifold of systems with higher complexity.",
keywords = "Balanced state, Balancing, Dynamics, Falling, Inverted pendulum, Legged mechanism, Optimization",
author = "Kim, {Joo H.} and Joo, {Chang B.}",
year = "2011",
doi = "10.1115/DSCC2011-6179",
language = "English",
isbn = "9780791854754",
series = "ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011",
pages = "231--237",
booktitle = "ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011",
note = "ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011 ; Conference date: 31-10-2011 Through 02-11-2011",
}