Abstract
Balancing is one of the most important issues of biped mechanism. In this presentation, an enhanced definition of a balanced state is proposed and the balanced state manifold for single-support legged mechanism is calculated by using constrained optimization method. The algorithm iteratively solves for the maximum and minimum velocities for a set of joint variables and actuation capacities. In addition to the system parameters, the necessary and sufficient conditions for balancing, such as the Zero-Moment Point, positive normal reaction force, friction, and final static equilibrium, are implemented as constraints. The calculated balanced state manifold can be used as general balance criteria for the single-support legged mechanism. The proposed framework can also be extended to form the balanced state manifold of systems with higher complexity.
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