I3SA: The Increased Step Size Stability Assessment Benchmark and its Application to the Humanoid Robot REEM-C

Felix Aller,Monika Harant,Sebastian Sontag,Matthew Millard,Katja Mombaur,Felix Aller,Monika Harant,Sebastian Sontag,Matthew Millard,Katja Mombaur

The implementation of stable locomotion on humanoid robots is a difficult task. This is complicated by the fact that there is no uniform method for analyzing a robot and its control architecture and for calculating indicators to quantify performance of flat ground walking. Moreover, there is no widely accepted indicator do distinct between a stable and unstable state of the robot. We propose the I...