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 Poincaré return map method. We show that none of these two methods can give us a general qualification of bipedal walking stability. © 2010 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Van Zutven, P., Kostić, D., & Nijmeijer, H. (2010). On the stability of bipedal walking. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 6472 LNAI, pp. 521–532). https://doi.org/10.1007/978-3-642-17319-6_47
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