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A Fast and Adaptive Test of Static Equilibrium for Legged Robots
Legged Robots Static Equilibrium
2015/6/19
A legged robot walking on uneven terrain can only avoid falling by applying contact forces with its feet on the ground that compensate for gravity without causing slip. To plan safe motions, it is nec...
Consider a legged robot at fixed foot placements. Where can the robot move its center of mass while remaining in static equilibrium? If the terrain is flat, the center of mass must lie above the conve...