Normalized Criteria and Comparative Analysis of Legged Stability

William Z. Peng, Joo H. Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Stepping is a vital strategy for legged systems to recover balance while they interact with their environment. This work presents normalized criteria for the analysis of legged system stability based on balanced and steppable regions. These criteria are applied to both a comprehensive region-based analysis of the contact transitions during a normal human step cycle and a comparative analysis of humanoid and human systems. In this work, the steppable, single support balanced, and double support balanced regions are evaluated for a human model with full-order system dynamics and joint actuation limits based on biomechanical models of maximum voluntary joint torques. The normalized regions are also compared with the capturability of an equivalent reduced-order model in order to demonstrate the role of steppability as a general extension of and complementary concept to capturability. In the comparative analysis of the humanoid and human systems, the normalized regions are used to directly compare the capability for balance recovery in both systems. The proposed approaches can be generalized beyond sagittal planar walking to analyze balance stability in any multi-contact scenario where stepping or step-like contact transitions can occur.

Original languageEnglish (US)
Title of host publication2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
PublisherIEEE Computer Society
Pages803-808
Number of pages6
ISBN (Electronic)9781728159072
DOIs
StatePublished - Nov 2020
Event8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020 - New York City, United States
Duration: Nov 29 2020Dec 1 2020

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2020-November
ISSN (Print)2155-1774

Conference

Conference8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
CountryUnited States
CityNew York City
Period11/29/2012/1/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

Fingerprint Dive into the research topics of 'Normalized Criteria and Comparative Analysis of Legged Stability'. Together they form a unique fingerprint.

Cite this