Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid

This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomotion and a useful, yet not overly restrict... View More