Abstract: Step-by-step (SBS) stair navigation is used by those with movement limitations or lower-limb prosthetics and by humanoid robots. Knowledge of biomechanical parameters for SBS gait, however, is limited. Inverted pendulum ...

Abstract: Balancerecovery stepping is often necessary for both a human and humanoid robot to avoid a fall by taking a single step or multiple steps after an external perturbation. The determination of where to step to come to a ...