Abstract
This paper presents a practical solution to the problem of multi-legged robot’s stability using a multi-contact approach applicable to unstructured terrains. The solution is based on a modified version of the Contact Wrench Set method which utilizes three arbitrary contact points to represent the physics of contact to test for stability. The developed method targets a variety of terrains including heterogenous surfaces extending the capabilities of the traditional Contact Wrench Set formulation. In this paper, the corresponding theoretical formulations and a novel visualization tool representing the robot’s stability level are presented. Thorough verification of the new formulations is investigated via multi-body dynamic simulations. Experimental tests using a life-size humanoid robot show that the approach effectively quantifies the robot’s stability on a wide range of surfaces.
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Dastangoo, P., Ramirez-Serrano, A. (2022). Multi-contact Stability of Multi-legged Robots Operating in Unstructured Terrains. In: Müller, A., Brandstötter, M. (eds) Advances in Service and Industrial Robotics. RAAD 2022. Mechanisms and Machine Science, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-031-04870-8_59
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DOI: https://doi.org/10.1007/978-3-031-04870-8_59
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