Velocity Based Stability Margins for Fast Bipedal Walking
This page has video, pictures, and simulations as companion material to the paper "Velocity Based Stability Margins for Fast Bipedal Walking" by Jerry Pratt and Russ Tedrake, presented at the First Ruperto Carola Symposium in the International Science Forum of the University of Heidelberg entitled "Fast Motions in Biomechanics and Robots", September 7-9, 2005, Heidelberg Germany.
Video
- Walking across discrete steps . In this video a 12 degree of freedom lower-body biped walks across discrete steps. It is given the goal locations to step to and steps by guiding a "Capture Point" to the desired stepping location. Once the Capture Point reaches the stepping location, the robot takes a step. Throughout this video, the robot is always "One-Step Capturable" meaning that there is a feasible trajectory through state space in which the robot can come to a full stop after taking one step.
Simulation