Stability criterion of biped robot on rough terrain

Keita Mori, Fumiyuki Fukui, Yutaka Uchimura

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper presents a stability criterion for biped robots on rough terrain. On rough terrain, which is not perpendicular 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)43-51
Number of pages9
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Issue number4
Publication statusPublished - 2014 Dec


  • ZMP
  • biped robot
  • rough terrain
  • stability criterion
  • suction

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering


Dive into the research topics of 'Stability criterion of biped robot on rough terrain'. Together they form a unique fingerprint.

Cite this