On the stability of bipedal walking
van Zutven, Pieter, Kostic, Dragan & Nijmeijer, Henk (2010). On the stability of bipedal walking. In N. Ando, S. Balakirsky, O. Stryk, van, M. Reggiani & T. Hemker (Eds.), Proceedings of the 2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots, 15-18 November 2010, Darmstadt, Germany (pp. 521-532). (Lecture Notes in Computer Science, No. 6472). Berlin: Springer.
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.