Stability Criteria of Balanced and Steppable Unbalanced States for Full-Body Systems with Implications in Robotic and Human Gait
William Z. Peng,Carlotta Mummolo,Joo H. Kim,William Z. Peng,Carlotta Mummolo,Joo H. Kim
Biped walking involves a series of transitions between single support (SS) and double support (DS) contact configurations that can include both balanced and unbalanced states. The new concept of steppability is introduced to partition the set of unbalanced states into steppable states and falling (unsteppable) states based on the ability of a biped system to respond to forward velocity perturbatio...
