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) …

In this work, the motion of a nonlinear inverted pendulum (NIP) on deformable terrain due to
foot contact forces is used for energy analysis and footstep placement. In order to include the …

For successful push recovery in response to perturbations, a humanoid robot must select an
appropriate stabilizing action. Existing approaches are limited because they are often …

Balance assessment during physical rehabilitation often relies on rubric-oriented battery
tests to score a patient's physical capabilities, leading to subjectivity. While some objective …

Stability evaluation is a vital aspect of successful balance control and design for humanoid
robots. While balance stability has been extensively explored for push recovery during …

Robotic tasks often exceed the scope of steady-state or periodic behavior, which
necessitates generally-applicable models of actuators intended to generate transient or …

Despite the importance and prevalence of loco-manipulation tasks by humanoids, existing
criteria and control methods for stability are mostly developed for unloaded legged gait. In …

Tipping is an instrumental aspect of multi-phase contact situations that arise during common
tasks such as the locomotion of legged systems. Despite its importance in balance recovery …

For successful push recovery control in response to unpredicted perturbations, a humanoid
robot must select the appropriate stabilizing action from a wide range of available strategies …

For proper balance assessment during a physical rehabilitation program, clinicians typically
rely on rubric-oriented battery tests to score a patient's physical capabilities, which can lead …