Balance recovery control of human walking with foot slip

Kuo Chen, Mitja Trkov, Siyu Chen, Jingang Yi, Tao Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations


We present a balance recovery control design for human walking with foot slip. The control strategy is built on the two-mass linear inverted pendulum model (LIP) that represents the human body and limb motions. We first validate the model through experiments of human normal walking and walking with foot slip. We then design a balance recovery control using the capture point (CP) concept. We extend the CP-based walking control and incorporate time-varying locations of the zero moment point. These extensions allow the balance recovery control of the human's center of the mass movement to rapidly respond to the unexpected foot slip. We conduct experiments to tune the model parameters and to validate the slip recovery control.

Original languageEnglish (US)
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781467386821
StatePublished - Jul 28 2016
Externally publishedYes
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: Jul 6 2016Jul 8 2016

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2016 American Control Conference, ACC 2016
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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