On the stability of bipedal walking

Proceedings & Conference Contributions

Zutven, P.W.M. van, Kostic, D. & Nijmeijer, H. (2010). On the stability of bipedal walking. In N. Ando, S. Balakirsky, T. Hemker, M. Reggiani & O. van Stryk (Eds.), Proceedings of the 2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots, 15-18 November 2010, Darmstadt, Germany, (Lecture Notes in Computer Science, 6472, pp. 521-532). Berlin: Springer.

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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.