Hybrid zero dynamics of human biped walking with foot slip

Kuo Chen, Mitja Trkov, Jingang Yi

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

10 Scopus citations


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.

Original languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509059928
StatePublished - Jun 29 2017
Externally publishedYes
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

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


Conference2017 American Control Conference, ACC 2017
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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