Unified approach for m-stability analysis and control of legged robots

Abstract

In this paper we address the issue of controlling the stability of legged robots based on the virtual generalized stabilizer (VGS) introduced in [J. Foret, et al.,2002]. The proposed approach is a theoretical framework that gives a unified point of view to design and to control the walking gaits. Although the presented work is general, the application focuses on the particular problem of static stability maintenance of a biped robot subject to a destabilizing impulsive force applied on its trunk.