並列摘要
In this thesis we discuss ground reaction forces and moments on a foot of a biped robot under a critical stable condition. We treated the following three types of reaction force distribution on the foot: point force, line contact force, and area contact force, and determine force combinations to bring the foot into critical conditions. The emphasis of this study is on the critical stable condition of gross sliding, but the condition of falling is also discussed. We assume Hertz contact stress in line and area contact regions. The theory of instantaneous center of zero velocity in planar kinematics is utilized to determine tangential stress distribution. Results include all combinations of forces Fx, Fy, Mz to cause gross sliding and the possibility for moments Mx, My to cause falling.