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Stability of equilibrium states in mechanical systems with multipleunilateral frictional contacts is an important practical requirement, with highrelevance for robotic applications. In our previous work, we theoreticallyanalyzed finite-time Lyapunov stability for a minimal model of planar rigidbody with two frictional point contacts. Assuming inelastic impacts and Coulombfriction, conditions for stability and instability of an equilibriumconfiguration have been derived. In this work, we present for the first time anexperimental demonstration of this stability theory, using a variable-structurerigid ''biped'' with frictional footpads on an inclined plane. By changing thebiped's center-of-mass location, we attain different equilibrium states, whichrespond to small perturbations by divergence or convergence, showing remarkableagreement with the predictions of the stability theory. Using high-speedrecording of video movies, good quantitative agreement between experiments andnumerical simulations is obtained, and limitations of the rigid-body model andinelastic impact assumptions are also studied. The results prove the utilityand practical value of our stability theory.

Experimental Verification of Stability Theory for a Planar Rigid Body with Two Unilateral Frictional Contacts