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State-Space Characterization of Balance Capabilities in Biped Systems with Segmented Feet
Carlotta Mummolo1, Kubra Akbas1, Giuseppe Carbone2
1New Jersey Institute of Technology, Newark, NJ, United States.
Frontiers in Robotics and AI
|March 15, 2021
Summary
This study introduces a new method to assess bipedal balance, using the Boundary of Balance (BoB) and novel indicators to better understand dynamic stability in complex systems.
Area of Science:
- Robotics and Biomechanics
- Human locomotion analysis
- Dynamic balance assessment
Background:
- Human balance relies on complex environmental interactions and whole-body coordination.
- Current stability analysis methods often use simplified models, leading to restrictive criteria.
- Existing methods do not fully capture the balance capabilities of complex bipedal systems.
Purpose of the Study:
- To develop a methodology for characterizing the balance capabilities of general biped models, including those with segmented feet.
- To evaluate the limits of dynamic balance using the Boundary of Balance (BoB) and novel balance indicators in the Center of Mass (COM) state space.
- To compare the proposed balance benchmark with existing stability criteria.
Main Methods:
- A novel contact model enabling intermittent heel, flat, and toe contacts was developed.
- The Boundary of Balance (BoB) was numerically constructed as the set of maximum allowable Center of Mass (COM) perturbations.
- Constrained trajectory optimization generated bipedal whole-body trajectories for recovery from extreme COM velocity perturbations.
Main Results:
- The Boundary of Balance (BoB) and balance indicators were evaluated for a whole-body biped model with segmented feet.
- A comparison between flat and segmented feet demonstrated the significant role of foot models in postural balance limits.
- The proposed state-space evaluation facilitated direct comparison with existing stability criteria like the Linear Inverted Pendulum (LIP) model and Margin of Stability (MOS).
Conclusions:
- The proposed methodology provides a robust framework for characterizing dynamic balance capabilities in general bipedal systems.
- The Boundary of Balance (BoB) and associated indicators offer a more comprehensive assessment than traditional methods.
- This work establishes a crucial benchmarking framework for evaluating the stability of biped/foot systems.
