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Convex Computation of the Basin of Stability to Measure the Likelihood of Falling: A Case Study on the Sit-to-Stand Task
[article]
2016
arXiv
pre-print
Locomotion in the real world involves unexpected perturbations, and therefore requires strategies to maintain stability to successfully execute desired behaviours. Ensuring the safety of locomoting systems therefore necessitates a quantitative metric for stability. Due to the difficulty of determining the set of perturbations that induce failure, researchers have used a variety of features as a proxy to describe stability. This paper utilises recent advances in dynamical systems theory to
arXiv:1604.00602v1
fatcat:l2kyfk4otjcodb77qz3gnv6tv4