Stability criterion of biped robot on rough terrain

Keita Mori, Fumiyuki Fukui, Yutaka Uchimura

Research output: Contribution to journalArticlepeer-review


This paper presents a stability criterion for biped robots on rough terrain. On rough terrain, which is not vertical to gravity, a robot may not fall even though its center of mass is out of the area of the supported polygon defined by the conventional VHP (Virtual Horizontal Plane) method. This is because there exists a certain force opposing the torque that causes the robot to fall down. We propose a new measure for strictly judging the limit of falling considering all the forces acting on the contact points. Numerical simulations and experimental results are also shown, which verify the proposed method.

Original languageEnglish
Pages (from-to)320-327
Number of pages8
JournalIEEJ Transactions on Industry Applications
Issue number3
Publication statusPublished - 2013


  • Biped robot
  • Rough terrain
  • Stability criterion
  • Suction
  • ZMP

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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