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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    Title :

    Multi-contact Stability of Multi-legged Robots Operating in Unstructured Terrains


    Additional title:

    Mechan. Machine Science



    Conference:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Publication date :

    2022-04-23


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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