Abstract
A biped robot should be able to keep balance under unexpected disturbance, and can take four strategies, i.e. ankle strategy, hip strategy, step strategy and reach & grasp strategy to recover balance. In this paper, the relationship between feet-ground constraints, namely the gravity constraints, the friction constraints and the CoP (Center of Pressure) constraints, and balance recovery strategy is analyzed. The satisfaction of these constraints imposed bounds on the control torque is investigated. Lastly, the friction coefficient and foot length/height ratio affect the joint torques to balance recovery, which can provide theoretical guidance for robot mechanism design.
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