Dynamic stability of the aerial work platform based on ZMP

Dynamic stability of the aerial work platform based on ZMP

This paper presents a new method to deal with the dynamic stability for the aerial work platform. To define the dynamic stability for aerial work platform, Zero Moment Point (ZMP) is used. The ZMP formulation is derived for the detail based on the ZMP theory. The valid stable region and stability de...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Pengxiao Jia, En Li, Zize Liang, Yanhui Qiang
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Force
Legged locomotion
Payloads
Stability criteria
Vehicle dynamics
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Beschreibung
Zusammenfassung:This paper presents a new method to deal with the dynamic stability for the aerial work platform. To define the dynamic stability for aerial work platform, Zero Moment Point (ZMP) is used. The ZMP formulation is derived for the detail based on the ZMP theory. The valid stable region and stability degree are adopted for stability criterion. Finally, the performance of the proposed method is demonstrated by simulation.
DOI:10.1109/ICICIP.2012.6391539