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Updated: Jun 19, 2026

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb
Published on: August 30, 2016
Postural stability in symmetrical gaits
Teresa Zielińska1, Maciej Trojnacki
1Institute of Aeronautics and Applied Mechanics (ITLiMS), Warsaw University of Technology, Warsaw, Poland. teresaz@meil.pw.edu.pl
Abstract:
In this paper the method of stability analysis of dynamic symmetrical gaits is discussed. The problem of dynamic postural equilibrium, taking into account the role of compliant feet, is solved. The equilibrium conditions are split between the foot attachment points and the points within the foot-end area. The present method is useful for motion synthesis, taking into account robot parameters. It also helps in the robot foot design. As an illustrative example a four-legged diagonal gait is considered. The theoretical results were verified by implementing and observing the diagonal gait in four-legged machine with and without feet.
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