Tip-Over Stability Analysis of a Pelvic Support Walking Robot

Figure 4

The relationship between the tip-over stability of the robot and the height of the pelvis:. Each point represents an interaction force: . The points with light color mean the robot will not tip over, and the points with blue color mean the robot will tip over. (a) The number of the safe points is 1898 with the Z₁ = 0.55 m. (b) The number of the safe points is 1225 with the Z₁ = 1.1 m.

(a)

(b)