On the stability of walking systems

By Pierre-Brice Wieber. 2002

222 citations recorded by the source corpus.

View Paper: https://www.semanticscholar.org/paper/062537195ca524e57317faff341fedfb7b04e19d

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Citations in the corpus

Interactive Character Animation Using Simulated Physics: A State‐of‐the‐Art Review (2012, background): “A character is statically balanced if its ZMP coincides with its COP [Wie02].”
Viability and predictive control for safe locomotion (2008, unknown): “In that case, with xG the position of the Center of Mass, the lefthand side of the necessary condition (5) boils down to [17]”
Forces acting on a biped robot. Center of pressure-zero moment point (2004, methodology): “A contrario, if the two planes are very angled, then it is in our mind necessary to monitor the whole contact forces, as pointed out in Section III-C (see [15]).”
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models (2011, methodology): “More general techniques, such as the Viability Margin [58], have been proposed but”
Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations (2006, background): “When walking on a flat ground, this boils down to the fact that the Center of Pressure (CoP), also called the Zero Moment Point (ZMP) can lie only within the convex hull of the contact points between the robot’s feet and the ground (more complex situations, involving contacts of the hands or even si”
ShapeStacks: Learning Vision-Based Physical Intuition for Generalised Object Stacking (2018, background): “Then S4 is stable if, and only if, the projection of its CoM r4 on π is contained in A [21], which we write as Projπ(r4) ∈ A.”
Online Walking Motion Generation with Automatic Footstep Placement (2010, background): “The description of the QP (19) is not complete without the constraints on the CoP, which must always lie within the support polygon [1]: any trajectory not satisfying this constraint cannot be realized as is.”