Dynamic stability criterion of biped ice-skater robot.

A leg-wheeled passive wheel type of biped ice-skater robot was designed on the basis of rolling and skating principle in this paper. The kinematic analysis on it was carried out by Denavit-Hartenberg (D-H) method. The robots legs were classified into supporting leg and swing leg. Assumed that the static frictional force in the normal direction of four wheels on the swing leg was in critical condition, three kinds of stability criteria taking the kinematic constraints of the wheel and the balance of the body into account were discussed depending on the state between the wheels and the plane. The validity and feasibility of the stability criterion were verified by simulations and experiments on the robot. [ABSTRACT FROM AUTHOR]