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Title
Japanese: 
English:Directional Normalized Energy Stability Margin 
Author
Japanese: LAZARENKOEVGENY, 広瀬茂男, 遠藤玄.  
English: Evgeny Lazarenko, SHIGEO HIROSE, Gen Endo.  
Language English 
Journal/Book name
Japanese: 
English: 
Volume, Number, Page        
Published date Nov. 2012 
Publisher
Japanese: 
English: 
Conference name
Japanese: 
English:The Second IFToMM ASIAN Conference on Mechanism and Machine Science 
Conference site
Japanese: 
English:Tokyo 
File
Abstract A new approach, denoted as DNESM S-theta, to estimation of stability of multi-legged robots is suggested. The relationship between direction of the destabilizing force (e.g. strong sidewind, or any other kind of impact) influencing the robot, and stability margin is studied. Additionally, new stability margin is validated both in a simulation and experimentally. Simulation results correspond well with the results of experimental validation.

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