Fig. 9

Lateral disturbance recovery. In (a), several frames of the model are shown, starting from the maximally displaced CoM posture (left most image) to the final static equilibrium posture (rightmost image). From the perspective of the model, the right leg is the swing leg and the left the stance leg. In (b), the lateral direction CoM (dotted line) and the CoP (solid line) are plotted versus time. In (c), the desired CoM acceleration (solid line), the actual CoM acceleration (heavy dashed line), and the slack value (dotted line) are plotted, showing the stabilization of the model’s CoM. Finally the body roll is plotted in (d), showing the corrective measures taken by the controller