In this paper, a stability index based on the ZMP (zero-moment point) for biped robots moving on rough terrain is proposed. The proposed method projects a support polygon on to a virtual plane and sets a virtual ZMP on it. In rough terrain, using the proposed method, stability check and trajectory planning are able to be treated as the case of flat terrain. The validity of the proposed method was confirmed by some simulations and experiments.
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Sato et al. (2009) studied this question.
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