A unified framework is established for general balance stability criteria of biped systems. The
stability regions of balanced and steppable states are partitions of the center-of-mass (COM) …

The balance stability control and analyses are important for the practical use of humanoid
robots. This dissertation advances the framework and formulations of balanced state basin …

Balance stability and power consumption are both key concerns for mobile robots. This
dissertation introduces optimization with stability, contact, and work phase transitions to …

This work presents a model-based method of evaluating and quantifying stability
characteristics of human walking in the sagittal plane. The stability criteria used for this …