@inproceedings{60ff5badabaa43b8831e4bc18e8cb736,
title = "Hybrid zero dynamics of human biped walking with foot slip",
abstract = "Most existing bipedal dynamics models are built on an assumption of no foot slip. We relax such assumption and present hybrid zero dynamics model and properties for bipedal walking with foot slip. When foot slips, the biped hybrid zero dynamics (HZD) preserve rich features such as high dimensionality and transitions between slip and non-slip dynamics. We present the closed-form of the HZD for human walking and discuss the transition between non-slip and slip states through slip recovery design. We illustrate the analysis and design through human walking experiments. The proposed HZD models and analysis can be further used to design control systems for robotic rehabilitation and assistive devices.",
author = "Kuo Chen and Mitja Trkov and Jingang Yi",
note = "Publisher Copyright: {\textcopyright} 2017 American Automatic Control Council (AACC).; 2017 American Control Conference, ACC 2017 ; Conference date: 24-05-2017 Through 26-05-2017",
year = "2017",
month = jun,
day = "29",
doi = "10.23919/ACC.2017.7963266",
language = "English (US)",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2124--2129",
booktitle = "2017 American Control Conference, ACC 2017",
address = "United States",
}