Predicting foot placement for balance through a simple model with swing leg dynamics

Stepping is one important strategy to restore balance against external perturbations. Although current literature have proposed models to predict the recovery foot placement, swing leg actuation is rarely taken into account. In this paper, we combine the capturability-based analysis with swing leg dynamics and seek to contribute to the following problem: for a biped system recovering balance from external perturbations, how to choose a step position and duration in minimizing swing actuation cost? We expand the linear inverted pendulum model with an actuated linear pendulum mounted on the pelvis, the addition of which is proposed to describe the swing leg dynamics.

Source: Journal of Biomechanics - July 15, 2018 Category: Biomedical Science Authors: Lei Zhang, Chenglong Fu Source Type: research