Velocity Based Stability Margins for Fast Bipedal Walking

This page has video, pictures, and simulations as companion material to the paper "Velocity Based Stability Margins for Fast Bipedal Walking" by Jerry Pratt and Russ Tedrake, presented at the First Ruperto Carola Symposium in the International Science Forum of the University of Heidelberg entitled "Fast Motions in Biomechanics and Robots", September 7-9, 2005, Heidelberg Germany.

 

Video

Simulation