Analysis of Gait Stability Criterion Based on Cognition of Human Walking Balance Mechanism*

How to evaluate the walking stability of robots and develop stable and effective walking control algorithms is a key research hotspot in the development of humanoid biped robots. At present, the main stability evaluation basis is zero moment point stability criterion. However, this method is poor in stability, flexibility and efficiency, which severely limits the walking ability of humanoid biped robot. This article is based on the human walking motion capture data, combining with the anatomical model, the kinematics forward solution algorithm which is used to calculate the trajectory of the human joint establish the kinematics model of the human walking process. This model analyzes the angular momentum balance and moment balance by introducing ground reference points and combining Euler's second theorem. Then on the base of these, we selected the forward distance between zero moment point and central moment axis, the vector plane centroid angular momentum and the acceleration of the center of mass in the forward direction as parameters to establish the human gait stability evaluation rules . Finally, The simulation results show that this stability criterion achieves an accurate discrimination of the walking gait stability of the human body and has high accuracy in determining the gait stability.