On the Dynamic Stability of Biped Locomotion

Gubina, F.; Hemami, H.; McGhee, Robert B.

doi:10.1109/tbme.1974.324294

Cited by 196 publications

(50 citation statements)

References 7 publications

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“…It has been noted, by some, that foot-placement control actually appears to be the most important factor affecting stability [11]- [13], [34]. Those models that have addressed the regulation of the foot trajectory have focussed on volitional or gait-related tasks [10]- [16], but none have considered control of compensatory stepping reactions.…”

Section: Discussionmentioning

confidence: 99%

“…In contrast to previous models of foot-placement control that have focussed on volitional step initiation [10], steady-state gait [11]- [14] or obstacle avoidance [15], [16], the present model deals with the control of foot placement during the rapid reflex-like reactions that serve to recover postural equilibrium. To simplify the model, we limit consideration to forward and backward stepping and neglect demands related to lateral stability.…”

mentioning

confidence: 99%

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The control of foot placement during compensatory stepping reactions: does speed of response take precedence over stability?

Maki

Mcllroy²

1999

IEEE Trans. Rehab. Eng.

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Abstract-Rapid, reflex-like stepping movements are a prevalent and functional compensatory reaction to destabilization, however, little is known about the underlying control. In this paper, a model is developed to examine how speed and stability demands affect control of foot placement during forward and backward compensatory stepping reactions. The concept of the velocity stability margin (VSM) is introduced to characterize the degree to which the horizontal velocity of the falling body approaches biomechanical limits on the capacity to decelerate the center of mass; analogous limits on center-of-mass displacement are quantified in terms of the displacement stability margin (DSM). The model is used to predict, for any initial step characteristics, the variation in DSM and VSM that would occur as a function of changes in timing of foot placement. The VSM was found to prevail over the DSM in establishing limits of stability. Model simulations demonstrated that there typically exists a minimum swing duration that maximizes speed of response while meeting minimum requirements for stability (VSM 0), as well as a slower speed of response (longer swing duration) at which stability (VSM) is maximized. Experimental data from platform-perturbation tests in 20 healthy young (22-28) and older (65-81) adults were used, in conjunction with the model, to investigate whether speed or stability takes precedence during natural behavior. Control of single-step reactions appeared to favor stability; although the model predicted that a minimally stable step (VSM = 0) could be attained by swing durations as short as 30 ms, the observed swing durations were, on average, 135 ms longer than this, and the average VSM was nearly as large (80%) as the optimally stable value predicted by the model. Control of the initial step of multiple-step reactions was distinctly different. The average swing duration was only 55 ms greater than the minimally stable value and the average VSM was 81% smaller than in the single-step reactions. This reduction in VSM is consistent with a need to execute additional steps and appears to support the validity of the model. This model may help to provide insight into the biomechanical factors that govern the neural control of compensatory stepping reactions.

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Section: Discussionmentioning

confidence: 99%

mentioning

confidence: 99%

The control of foot placement during compensatory stepping reactions: does speed of response take precedence over stability?

Maki

Mcllroy²

1999

IEEE Trans. Rehab. Eng.

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“…26,[73][74][75][76][77] This demands the investigation of the phase-plane portraits of generalized coordinates and velocities to see the periodic (cyclic/orbital) stability of the inverted pendulum.…”

Section: Periodicity-based Gaitmentioning

confidence: 99%

Modeling, stability and walking pattern generators of biped robots: a review

et al. 2013

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Biped robots have gained much attention for decades. A variety of researches have been conducted to make them able to assist or even substitute for humans in performing special tasks. In addition, studying biped robots is important in order to understand human locomotion and to develop and improve control strategies for prosthetic and orthotic limbs. This paper discusses the main challenges encountered in the design of biped robots, such as modeling, stability and their walking patterns. The subject is difficult to deal with because the biped mechanism intervenes with mechanics, control, electronics and artificial intelligence. In this paper, we collect and introduce a systematic discussion of modeling, walking pattern generators and stability for a biped robot.

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“…Out of the sensors, one of the most important sensor is the vision sensor. A number of researches were performed in application of vision sensor to the unmanned forklift [1], [2]. However, the vision sensors in the research are single vision system such that it should be used with other sensors to find depth information.…”

Section: Introductionmentioning

confidence: 99%

An Optimal Position and Orientation of Stereo Camera

Choi¹,

Kim²,

Shin³

et al. 2013

The Journal of Korea Navigation Institute

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A stereo vision analysis was performed for motion and depth control of unmanned vehicles. In stereo vision, the depth information in three-dimensional coordinates can be obtained by triangulation after identifying points between the stereo image. However, there are always triangulation errors due to several reasons. Such errors in the vision triangulation can be alleviated by careful arrangement of the camera position and orientation. In this paper, an approach to the determination of the optimal position and orientation of camera is presented for unmanned vehicles.

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On the Dynamic Stability of Biped Locomotion

Cited by 196 publications

References 7 publications

The control of foot placement during compensatory stepping reactions: does speed of response take precedence over stability?

The control of foot placement during compensatory stepping reactions: does speed of response take precedence over stability?

Modeling, stability and walking pattern generators of biped robots: a review

An Optimal Position and Orientation of Stereo Camera

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