TY  - JOUR
PY  - 2004//
TI  - Stability in legged locomotion
JO  - Biological cybernetics
A1  - Karcnik, Tomaz
SP  - 51
EP  - 58
VL  - 90
IS  - 1
N2  - 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>
LA  - en
SN  - 0340-1200
UR  - http://dx.doi.org/10.1007/s00422-003-0446-2
ID  - ref1
ER  -