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.
Skip Nav Destination
ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
October 31–November 2, 2011
Arlington, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5475-4
PROCEEDINGS PAPER
Identification of Balanced State Domain for Single-Support Legged Mechanism
Joo H. Kim,
Joo H. Kim
Polytechnic Institute of New York University (NYU-Poly), Brooklyn, NY
Search for other works by this author on:
Chang B. Joo
Chang B. Joo
Polytechnic Institute of New York University (NYU-Poly), Brooklyn, NY
Search for other works by this author on:
Joo H. Kim
Polytechnic Institute of New York University (NYU-Poly), Brooklyn, NY
Chang B. Joo
Polytechnic Institute of New York University (NYU-Poly), Brooklyn, NY
Paper No:
DSCC2011-6179, pp. 231-237; 7 pages
Published Online:
May 5, 2012
Citation
Kim, JH, & Joo, CB. "Identification of Balanced State Domain for Single-Support Legged Mechanism." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 231-237. ASME. https://doi.org/10.1115/DSCC2011-6179
Download citation file:
7
Views
Related Proceedings Papers
Related Articles
Complementarity Techniques for Minimal Coordinate Contact Dynamics
J. Comput. Nonlinear Dynam (March,2017)
Assessment of Linearization Approaches for Multibody Dynamics Formulations
J. Comput. Nonlinear Dynam (July,2017)
A Recursive Hybrid Time-Stepping Scheme for Intermittent Contact in Multi-Rigid-Body Dynamics
J. Comput. Nonlinear Dynam (October,2009)
Related Chapters
Dynamic Simulations to Become Expert in Order to Set Fuzzy Rules in Real Systems
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)
Trader Behavior under an Evolving Stock Market Environment
Intelligent Engineering Systems through Artificial Neural Networks, Volume 16
Constraints
Nonlinear Regression Modeling for Engineering Applications: Modeling, Model Validation, and Enabling Design of Experiments