Balance recovery control of human walking with foot slip

We present a balance recovery control design for human walking with foot slip. The control strategy is built on the two-mass linear inverted pendulum model (LIP) that represents the human body and limb motions. We first validate the model through experiments of human normal walking and walking with foot slip. We then design a balance recovery control using the capture point (CP) concept. We extend the CP-based walking control and incorporate time-varying locations of the zero moment point. These extensions allow the balance recovery control of the human's center of the mass movement to rapidly respond to the unexpected foot slip. We conduct experiments to tune the model parameters and to validate the slip recovery control.

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