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A humanoid robot has high mobility but possibly risks of tipping over. Until now, onemain topic on humanoid robots is to study the walking stability; the issue of the running stabilityhas rarely been investigated. The running is di?erent from the walking, and is more di?cult tomaintain its dynamic stability. The objective of this paper is to study the stability criterion forhumanoid running based on the whole dynamics. First, the cycle and the dynamics of running areanalyzed. Then, the stability criterion of humanoid running is presented. Finally, the e?ectivenessof the proposed stability criterion is illustrated by a dynamic simulation example using a dynamicanalysis and design system (DADS).
A humanoid robot has high mobility may possibly risks of tipping over. One running topic on humanoid robots is to study the walking stability; the issue of the running stability has rarely been investigated. The running is di? Erent from the walking, and is more di? cult tomaintain its dynamic stability. The objective of this paper is to study the stability criterion forhumanoid running based on the whole dynamics. First, the cycle and the dynamics of running areanalyzed. Then, the stability criterion of humanoid running is presented. Finally, the e? Ectivenessof the proposed stability criterion is illustrated by a dynamic simulation example using a dynamic analysis and design system (DADS).