@inproceedings{1c243870a27748d4b5ee9beb8e5885b1,
title = "Balance recovery control of human walking with foot slip",
abstract = "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.",
author = "Kuo Chen and Mitja Trkov and Siyu Chen and Jingang Yi and Tao Liu",
note = "Funding Information: The work was supported in part by the US NSF under award CMMI 1334389, National Natural Science Foundation of China under award 61428304 and award GZKF-201404 from the State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, China Publisher Copyright: {\textcopyright} 2016 American Automatic Control Council (AACC).; 2016 American Control Conference, ACC 2016 ; Conference date: 06-07-2016 Through 08-07-2016",
year = "2016",
month = jul,
day = "28",
doi = "10.1109/ACC.2016.7525612",
language = "English (US)",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4385--4390",
booktitle = "2016 American Control Conference, ACC 2016",
address = "United States",
}