On the stability of bipedal walking

P.W.M. Zutven, van, D. Kostic, H. Nijmeijer

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Abstract

Stability of bipedal locomotion is analyzed using a model of a planar biped written in the framework of systems with unilateral constraints. Based on this model, two different stable walking gaits are derived: one which fulfills the widely used criterion of the Zero Moment Point (ZMP) and another one violating this criterion. Both gaits are determined using systematic model-based designs. The model and the two gaits are used in simulations to illustrate conservatisms of two commonly used methods for stability analysis of bipedal walking: the ZMP criterion and Poincare return map method. We show that none of these two methods can give us a general qualification of bipedal walking stability.
Original languageEnglish
Title of host publicationProceedings of the 2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots, 15-18 November 2010, Darmstadt, Germany
EditorsN. Ando, S. Balakirsky, T. Hemker, M. Reggiani, O. Stryk, van
Place of PublicationBerlin
PublisherSpringer
Pages521-532
ISBN (Print)978-364217318-9
DOIs
Publication statusPublished - 2010

Publication series

NameLecture Notes in Computer Science
Volume6472
ISSN (Print)0302-9743

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