Stability index for biped robot moving on rough terrain

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)5+571-577
Journalieej transactions on industry applications
Issue number6
Publication statusPublished - 2009
Externally publishedYes


  • Biped robot
  • Rough terrain
  • Stability index
  • ZMP

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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