As a result, existing stability criteria tend to be overly restrictive and do not represent the full balance capabilities of complex biped systems. Despite this, several stability analysis methods are limited by the use of overly simplified biped and foot structures and corresponding contact models. The human ability of keeping balance during various locomotion tasks is attributed to our capability of withstanding complex interactions with the environment and coordinating whole-body movements. 1New Jersey Institute of Technology, Newark, NJ, United States.Carlotta Mummolo 1*, Kubra Akbas 1 and Giuseppe Carbone 2
