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Stability in legged locomotion.

Tomaz Karcnik
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Abstract

Stability is a key element in a gait synthesis. Static stability margins are widely adopted in crawlers, while no similar approach has been developed for dynamically stable systems. Utilizing an analytical approach, we developed a set of easy-to-calculate stability indices to describe instantaneous static and dynamic (In)stability for a certain group of walking systems. The analysis is based on a thorough analysis of the interaction between ground reaction forces and the walking system. The indices are applicable to walking systems regardless of the number of legs or mechanical/biological design. We show that static and dynamic stability are independent of each other. We suggest a possible categorization of gait modes based on stability. Stability characteristics are analyzed in a healthy and highly pathological human gait. Finally, we discuss the applicability of the proposed methods.

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GaitHumansLocomotionModels, NeurologicalPostureWalkingJournal ArticleResearch Support, Non-U.S. Gov't

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BibTeXRIS

Tomaz Karcnik. 2004-01-20. Stability in legged locomotion.. https://doi.org/10.1007/s00422-003-0446-2

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