Abstract
Achieving stability of biped robot during walking is a tough task. In this paper, we generate polynomial cubic spline for ankle joints, hip joints, and upper body so that the resulting walk is stable. Stability is assured by calculating zero momentum point with largest stability margin in Matlabs.
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Acknowledgements
The first author is thankful to the “Ministry of Human Resource and Development India” grant Number MHR-02-23-200-44 for financial support to carry out this research work.
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Panwar, R., Sukavanam, N. (2019). Effect of Upper Body Motion on Biped Robot Stability. In: Deep, K., Jain, M., Salhi, S. (eds) Decision Science in Action. Asset Analytics. Springer, Singapore. https://doi.org/10.1007/978-981-13-0860-4_18
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DOI: https://doi.org/10.1007/978-981-13-0860-4_18
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