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Quantitative Measures of a Robot's Ability to Balance

Name: Quantitative Measures of a Robot's Ability to Balance
Creator: Roy Featherstone
Keywords: 0209 industrial biotechnology, 11. Sustainability, 0202 electrical engineering, electronic engineering, information engineering, 02 engineering and technology

descriptionPublicationkeyboard_double_arrow_right Article 13 Jul 2015Publisher:Robotics: Science and Systems FoundationJournal:Robotics: Science and Systems XI

Authors: Roy Featherstone;

doi: 10.15607/rss.2015.xi.026

Quantitative Measures of a Robot's Ability to Balance

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Abstract

This paper shows how to define quantitative measures of a robot’s ability to balance itself actively on a single point of support. These measures are expressed as ratios of velocities, and are called velocity gains. This paper builds on earlier work in this area by showing how these gains can be defined and calculated for the case of a general planar robot balancing on a general rolling-contact point in the plane, and the case of a general spatial robot balancing on a general rolling-contact point in 3D space. The case of balancing on a contact area with compliance is also considered. The paper concludes with two examples showing how to use velocity gains in the design of a triple pendulum and the analysis of a hydraulic quadruped.

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	citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	9
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	influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	Top 10%
	impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.	Top 10%