@article{ref1,
title="Stability in legged locomotion",
journal="Biological cybernetics",
year="2004",
author="Karcnik, Tomaz",
volume="90",
number="1",
pages="51-58",
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.<p /><p>Language: en</p>",
language="en",
issn="0340-1200",
doi="10.1007/s00422-003-0446-2",
url="http://dx.doi.org/10.1007/s00422-003-0446-2"
}