CONFIDENTIAL. Limited circulation. For review only.
Analysis of Gait Stability Criterion Based on Cognition of Human
Walking Balance Mechanism*
Xiaoguang Wu1 , Lei Yang, Shaowei Liu, Tingjin Wang, Yanhui Li and Lei Wei
Abstract— 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. In combination
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, in order to establish the human gait stability
evaluation rules, 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 are selected as parameters according
to the stress analysis and balance analysis of human walking.
The research results will lay the foundation for exploring
the mechanism of maintaining human walking stability, and
provide new ideas for the development of humanoid biped
robots. It is also instructive for bionics research of humanoid
biped robots and rehabilitation treatment of diseases related to
walking abnormalities.
Index Terms— human motion capture; human-like movement
model; walking stability; gait stability evaluation
I. INTRODUCTION
At present, with the development of robot research, more
and more humanoid robots are beginning to enter the market,
such as the occasional consulting robots in public places,
the bank hall, the trading hall, and other public places.
Some children are available for communication, and have
some teaching and auxiliary ability to accompany the robot;
some restaurants have been put into use the service robot
and so on. However, robots that actually have the ability
to walk biped and walk like humans have never been on
the market.The biggest advantage of the bipedal humanoid
robot is that it can adapt to a variety of ground, and close
to the mobility of human body to be able to undertake the
work of most of the human body, Professor Kato Ichiro of
Waseda University in Japan once proposed that ”one of the
biggest functions a robot should have is a walking function.”
*Fund Project: National Natural Science Foundation Youth Science
Foundation (Grant No. 61503325), Natural Science Foundation of Hebei
Province (Grant No. F2014203246), China Postdoctoral Science Foundation
(Grant No. 2015M581316)
1 Wu Xiaoguang, Associate Professor, School of Electrical Engineering,
Yanshan University. The main research directions are the control of biped
walking robots, computer vision and machine learning, and special robot
research techniques. E-mail: wuxiaoguang@ysu.edu.cn
Preprint submitted to WRC Symposium on Advanced Robotics and Automation 2018.
Received June 7, 2018.
Nowadays, bipedal humanoid robots are becoming more and
more important. Inspired by the disaster relief difficulties
after the Fukushima nuclear power plant accident, the United
States has hosted the DARPA (Defense Advanced Research
Projects Agency) disaster-relief robot challenge[1,2]. In the
DARPA competition, the disaster relief robots exhibited by
the teams saw the possibility of bipedal humanoid robots
replacing humans in hazardous environments; The Atlas
series of robots developed by the world’s leading robotics
company, Boston Dynamics, USA, has now achieved difficult
motions such as anti-disturbance, handling and backflip.
However, at this stage, the problem of walking stability is
still a huge problem between the biped robot and the market.
Bipedal walking is a basic activity of the human body.
After a long period of evolution, the human body has become
the most perfect bipedal motion system in nature. However,
many people lose or partially lose this ability because of
illness, disability, and childhood abuse.The development of
biped walking stability technology will promote the devel-
opment of exoskeletal prosthetic limbs, gait diagnosis, and
walking rehabilitation techniques. It will help resolve the
troubles of the walking dysfunction patient and provide ideas
for walking rehabilitation medical treatment. In terms of
maintaining walking stability, as the most perfect bipedal
walking system, the human body itself has a complete set
of stability evaluation system. An in-depth study of the
principle of stable walking of the human body can help
us to understand the mechanism of dynamic walking of
the bipedal feet and to develop humanoid bipedal robots.
It also contributes to the development of sports science and
biomedicine.
Based on the above reasons, this article intends to study
the stability criteria of the bipedal system, which lays a
foundation for the further development of the bipedal robot
imbalance detection and control algorithm, and provides a
new direction for rehabilitation therapy for patients with
walking disorders.
II. HUMAN MODEL DIVISION BASED ON
MOTION CAPTURE DATA
In order to analyze the walking stability of the human
body,first by wearing inertial sensor records the location
information, or use camera instrument to record the location
of the optical reflection point motion capture experiments
with real time kinematic data in the process of walking.Using
the idea of bionics as a reference, the human body’s physio-
logical structure is used as an object to establish a simplified
model of the subject’s human body, and the model is
 CONFIDENTIAL. Limited circulation. For review only.
segmented into segments. According to human morphology,
the kinematics model is divided into five kinematic chains:
left foot, right foot, back bone, left arm and right arm.
Each kinematic chain is composed of a set of rigid body
connecting rods that connect the joints. The common starting
point of all kinematic chains is the root node of the hip
joint center. Based on the human motion model, a method
proposed by Denavt and Harttenberg is used to calculate the
joint coordinate by establishing an appendage coordinate sys-
tem for each member in the kinematic chain to describe the
relationship between the rotational and translational relations
between adjacent two prostheses. The trajectory, according
to the joint relationship, can establish an absolute reference
coordinate system and the local coordinate system of each
joint, and determine the rotation matrix according to the joint
rotation angle.
III. GAIT BALANCE ANALYSIS BASED ON
HUMAN GAIT BALANCING COGNITION
A. Ground reference points and force balance under the state
of human walking
In the study of the balance of human gait, according
to the current mainstream understanding of the academic
community[3], the gait of the human body during walking
can be divided into three equilibrium states according to
the relationship between the ground reference point and the
ground support area, static equilibrium gait, and dynamic
balance step. State, dynamic imbalance gait.The three equi-
librium states are determined by the projection of the centre
of mass pCM, the relationship between the ZMP and the
ground support area. If within a gait cycle, the pCM is always
within the ground support area, it is assumed that the human
body as a whole does not undergo rotational moments and
the human body is in static equilibrium; if the pCM exists
beyond the ground support area for a certain period of time,
the human body is in a dynamic equilibrium state when the
ZMP is always in the ground support area.If both pCM and
ZMP will appear beyond the ground support area at certain
moments, the human body is considered to be in a dynamic
unbalanced state under this gait. As shown in Fig 1:
Fig. 1. A diagram of the three equilibrium states of human walking
Preprint submitted to WRC Symposium on Advanced Robotics and Automation 2018.
Received June 7, 2018.
B. Angular momentum solution of human body
Most of the joint angle changes during walking are con-
centrated in the sagittal plane,and the degree of kinematic
coupling in the sagittal plane, coronal plane,and cross-section
is extremely low. The coronal plane and cross-sectional
movements has less influence on the results of the sagittal
plane observation.In order to simplify the force analysis
process, select the body center of mass as a stress point,
the force of the center of mass in the analysis of the
human body,The ground reference points ZMP, CoP, CMP
(Centroidal Moment Pivot ) and pCM are used to analyze
the angular momentumbalance and moment balance. The
walking human body is a complex mass system of motion.
In order to simplify the force analysis process,select the
body center of mass as the stress center is analyzed with
mechanics,In the human body walking movement,the overall
body massP Gis a moving point,and the body mass center the
coordinates are shown in equation (1):
n
X mi PG
PG = i
(1)
i=1
mT
Among them,PGi is the absolute position of the centroid
Gi ,mi is the mass of the i-th body segment,mT is the total
mass of the human body, and n is the segment number of
the human body mass divided by this article,and n = 16.
According to Newton’s second law, the relationship between
the subject’s overall stress and ground reaction during the
walking process can be expressed by equation (2):
n
X n
X
Fag + mi g = mi aGi (2)
i=1 i=1
According to D’Alembert’s principle, rewrite (2) as follows:
FGR + FF = 0 (3)
n
X
FF = mi (g − aGi ) (4)
i=1
Formula (3) shows that the sum of the net external force
and the dynamic reaction force (inertial force) acting on the
human body is equal to zero, and the ground reaction force
FGR and the gravity and inertia force resultant force FF are
equal in magnitude and opposite in direction, but the line of
action may be are not the same. The line of action of the
resultant FF passes through the total center of mass of the
human body, and the point of intersection with the ground
is the central moment axis CMP. The CMP coordinates are
as follows:
FFx
PCM Px = PGx − FFz PG z
(5)
FFy
PCM Py = PGy − FFy PG z
The intersection point of ground reaction force FGR and
the ground is CoP (pressure center point). If FF and FGR
action line are coaxial, then the whole body rotates and
balances. If the two forces have different axes, a rotational
 CONFIDENTIAL. Limited circulation. For review only.

couple is generated. According to Euler’s second law, the In Fig 2,the force FF is the force that passes through the
total external moment of the human body with respect to center of gravity G and the direction of the force changes
the center of mass G is equal to the sum of the time rate with the change of the acceleration aG (g does not change
of change of the body-center angular momentum, as the vertically),FF is changed based on the body’s movement
following expression: .Because the acceleration aG and the angular momentum HG
X are both physical quantities that are controllable and closely
MG = MGR + GP × FGR = ḢG (6) related to body movement. From formula (3), formula (4)
and formula (10), we can see that the direction of force FF
Among them,GP is the space vector where the centroid
and ground reaction force between gravity and inertia forces
points to the FGR action point P ,P is the CoP point, and
and the landing points CMP,CoP and ZMP on the ground
the time rate of change of the centroid angular momentum
are both Body posture related. Through analysis, it can be
is defined as follows:
seen that the force of gravity and inertial force FF is the
n n
X X force that passes through the center of gravity and points to
ḢG = ḢGi + GGi × mi aGi (7)
the CMP point,FF is opposite to the ground reaction force
i=1 i=1
FGR in direction and equal in magnitude, forming a pair of
Among them, Gi is the centroid position of each part of couples. Rewrite (6) as follows:
the human body, and ḢGi is the time rate of change of the 
centroid angular momentum of part i-th of the human body, P G × FF + MḢG = 0 hrz (11)
the following expression:
Among them, the external force moment MḢG = −ḢG ,
ḢGi = Ii ω̇i + ω̇i × Ii ω̇i (8) formula (11) can be derived as follows:

Rewrite (6) to get the following formula: ḢGx = (PGy − PZM P y ) FF z − PGz FF y
(12)
T
[0, 0, MGRz ] = (PP − PG ) × FF + ḢG ḢGy = (PZM P x − PGx ) FF z + PGz FF x
T
Where,PP = [PZM P x , PZM P y , PZM P z ] is the co- 
PZM P y − PGy
T 
FF y

ordinates of the ZMP point,and the coordinate value ḢGx = ×
−PGz FF z
PZM P x , PZM P y can be obtained by solving the horizontal (13)
component of the formula:  T  
−PGz FF z
ḢGy = ×
PZM P x =
PGx FF z −PGz FF z +ḢGy PZM P x − PGx FF x
FF z
(10) In equations (12) and (13), x and y are the coronal axis
PGy FF z −PGz F y−ḢGx
PZM P y = FF z
and sagittal axes, respectively, and in the coronal and sagittal
planes, the following conclusions are satisfied:
CoP as the center point of human body pressure can only
be determined by direct measurement. Popovic and Herr Mbody = GPZM P ×FF = PZM P G×FGR = −MḢG (14)
proved mathematically that ZMP is equivalent to CoP in
Therefore, the human body is subjected to the action of a
the state of dynamic equilibrium[4]. Therefore, under the
pair of couples consisting of gravity force and inertial force
dynamic balance of gait, can replace the CoP with ZMP
FF and ground reaction force FGR in the sagittal plane
force analysis of the human body.
during dynamic balance walking. The size is the temporal
In the process of human walking, the forces and moments
rate of change of the angular momentum of the centroid
in the sagittal plane of the human body are captured as shown
sagittal plane,The direction is related to the forward and
in Fig 2:
backward position of the ZMP and CMP points and the time
rate of change of the angular momentum of the centroid.The
above variables are related to the movement posture during
the human body walking. The body mass center angular
momentum is the relative angular momentum of the body
parts relative to the center of mass of the body. The solution
formula for the mass center angular momentum HG is as
follows:
Xn
HG = [(rGi − rG ) × mi (vGi − vG ) + IGi ωi ] (15)
i=1

Where rGi is the absolute position of the centroid of the

i-th body segment,rG is the absolute position of the total
centro-id ,mi is the mass of the i-th segment,vGi is the
Fig. 2. Human body force and moment diagram absolute velocity of the centroid of the segment,and vG is

Preprint submitted to WRC Symposium on Advanced Robotics and Automation 2018.

Received June 7, 2018.
 CONFIDENTIAL. Limited circulation. For review only.
the absolute velocity of the total centroid,IGi is the inertial
tensor of the i-th body segment,wi is the angular velocity
of the i-th body segment.The first item in square brackets
is the angular momentum due to the movement of the local
centroid,ande the second item is the angular momentum in
part about the position of its centroid.
In order to study the general law of the change of the
angular momentum of the centroid, and to a certain extent
exclude the individual differences of the subjects. For each
motion capture experiment, the centroid angular momentum
obtained from the experimental treatment is dimensionless,
dividing the calculated centroid angular momentum by Njn
. during the actual walking of the subject, but also fluctuate
Njn = Mj × Vjn × Hj (16)
In equation (16),M is the subject’s body weight,V is the
speed of the experiment,H is the subject’s centroid height,
j represents the subject, and n represents the experimental
group.
IV. SELECTION OF DISCRIMIANT
PARAMETERS FOR GAIT BALANCE
For research on human bipedal robots and rehabilitation
medical treatment for patients with walking disabilities, the
method of maintaining body balance is an important research
direction. During the entire walking process of the human
body, most of the motion information is confined to the
sagittal plane. Combining with the stability characteristics of
human walking process, ZMP point and CMP point’s forward
direction distance, centroid forward acceleration and sagittal
surface centroid angular momentum physical quantity were
selected as the discriminating basis for walking stability, and
puts forward a method to distinguish the stability of human
walking.
Human body mass angular momentum is an important
parameter related to the human walking gait. The sagittal
surface centroid angular momentum is zero under the static
equilibrium gait, and it fluctuates above and below zero
at the dynamic equilibrium gait, and the sagittal surface
centroid angular momentum period is closely related to the
human gait cycle. Select the sagittal plane mass angular
momentum as part of the balance of the balance of the
bipedal system, named AM. For the non-dimensionalization
of sagittal centroid angular momentum, divide AM by Njn ,as
shown in equation (16). In the process of human walking, the
vertical component and the forward component of the linear
acceleration component of the line acting in the sagittal plane
of the human body. The most important influence factor of
the vertical component is the gravity received by the human
body. To exclude the influence of gravity,This article selects
the horizontal component of linear acceleration during the
human body to participate in the analysis and names it A.
For the centroid acceleration in the forward direction, the
gravitational acceleration g is dimensionless. The forward
distance between ZMP and CMP is equal to the ratio of
the rate of change of the overall angular momentum to the
combined force of gravity and inertial force in the vertical
Preprint submitted to WRC Symposium on Advanced Robotics and Automation 2018.
Received June 7, 2018.
direction. According to Euler’s second theorem, the rate of
change of the angular momentum of the center of mass is
the moment of force external to the system.
Through the above analysis shows that for the conser-
vation of angular momentum, centroid uniform motion of
the static balance gait, choose three gait stability evaluation
benchmark: sagittal surface centroid angular momentum AM,
centroid forward acceleration A, and ground reference points
ZMP and CMP. The distance ZC in the advancing direction
is always zero. However, according to the analysis results
of the human walking movement capture data, these three
physical quantities not only do not always equal to zero
above and below the zero value. Based on this conclusion, we
first assume that the walking stability is related to the degree
of dispersion of the three parameters. Therefore, in order
to measure the dispersion of the three parameters, the root-
mean-squared error of one cycle is calculated. Capture the
human walking motion capture data of an angular momentum
period, set the total frame number of the obtained gait cycle
to n, and solve the above the root mean square value of the
three parameters by formula (17). Marked as X, Y, Z:
s s s
n n n
AMi 2 Ai 2 ZCi 2
P P P
i=1 i=1 i=1 (17)
X= n ,Y = n ,Z = n
As shown in equation (17), select a gait cycle to determine
the root mean square value of the three stability criteria,
denoted as X, Y, Z, in order to evaluate the stability at
each moment in the gait cycle, the sagittal centroid angu-
lar momentum AM, the forward acceleration A, and the
ground reference point distance ZC of each frame data of
the gait cycle data to be measured are subtracted from
their corresponding averages. Root error, squared again, to
eliminate negative effects. In view of the different influence
weights of the three stability indicators on the gait stability,
using the linear weighted sum method to establish the gait
stability evaluation function, and the weight coefficients of
the three stability discriminant indexes were set to a, b, and
c, respectively. The function value of each frame is set as
the calculation formula is as shown in formula (18):
Mi = a(AMi − X)2 + b(Ai − Y )2 + c(ZCi − Z)2 (18)
In summary, a stability evaluation index within a gait cycle
is established, as shown in equation (19):
M = [M1 , M2 , · · · , Mi , · · · Mn ] (19)
Where i is the number of frames at the corresponding time
in the gait cycle and is the maximum number of frames for
the selected gait cycle.
Three stability indicators were selected and adjusted by
adding weight coefficients a, b and c. In order to facilitate
stability determination and analysis, the smoother the better
the M value change during the evaluation period.When for-
mulating the selection principles for the weight coefficients
a, b and c, the minimum value of M in one cycle is selected
to take the minimum value. At the same time, in order to
 CONFIDENTIAL. Limited circulation. For review only.

facilitate intuitive understanding, while avoiding the weight gait of different subjects with the M-value curve of abnormal
coefficient to take zero at the same time, let the sum of gait, it is verified that the proposed stability criterion can ac-
the weighting coefficients of a, b and c be 1, as shown in curately distinguish the normal gait with abnormal gait. The
Equation (20): motion capture data was extracted, a simplified human model
a+b+c=1 (20) was established,and the experimental data was preprocessed
to obtain motion capture data.The stability criteria was used
Let function f (a, b, c) be an angular difference in the to calculate the stability discriminant function values. Curves
angular momentum period, as shown in equation (21): of the experimental groups are shown in Fig4,Fig5 and
f (a, b, c) = Mi,max − Mi,min (21) Fig6 in order to distinguish between normal gait curves and
abnormal gait curves. the normal gait is represented by a
Solve the a, b and c values when the range f (a, b, c) is blue curve, and the abnormal gait is represented by a red
minimized by using a constraint minimization method. curve.
(
min f (a, b, c)
a,b,c (22) 1-01
s.t. a + b + c = 1 1-02
1-03
0.03 1-04
When the minimum value is taken as the minimum value, 1-05
1-06
it is taken as the gait stability evaluation standard value. At M(/) 0.025
1-07

this time, each frame value is recorded as , as shown in

formula (23):
0.02

Mi,f min = af min (AMi − X)2 + bf min (Ai − Y )2

(23)
+cf min (ZCi − Z)2


0 20 40 60 80 100
Angular momentum period(%)

Among them, the value af min , bf min , cf min is the value Fig. 4. Carnegie Mellon University Database Walking Motion Capture
of the weight coefficients a, b, c when the extreme-value Data Stability Verification.
function f obtains the minimum value, and the abnormal
gait and normal gait are found by observing the curve of the
stability criterion M at this moment in an angular momentum 0.05
2-01
period the difference, and thus identify gait cycle stability. To 2-02
0.045 2-03
verify the validity of the motion capture experimental data 2-04
2-05
in this paper, In the exercise capture database at Carnegie 0.04
2-06
2-07
Mellon university, the same subjects were selected to capture
M(/)

0.035

data in five normal gait movements, Extract data from a com- 0.03
plete angular momentum cycle from each set of experime-
0.025
ntal data, and through the established kinematics model of
the walking process, the stability identifiability index M 0.02
0 20 40 60 80 100
is calculated using the human gait stability identification Angular momentum period(%)

method proposed in this paper. The results are shown in Fig Fig. 5. Carnegie Mellon University Database Walking Motion Capture
3: Data Stability Verification.

0.028
1
2 0.042
0.027 3-01
3
4 0.04 3-02
0.026 3-03
5
0.038 3-04
0.025 3-05
0.036 3-06
M(/)

3-07
M(/)

0.024 0.034

0.023 0.032

0.03
0.022
0.028
0.021
0.026
0 20 40 60 80 100
0.02 Angular momentum period(%)
0 10 20 30 40 50 60 70 80 90 100
Angular momentum period(%)
Fig. 6. Carnegie Mellon University Database Walking Motion Capture
Fig. 3. Carnegie Mellon University Database Walking Motion Capture Data Stability Verification.
Data Stability Verification.
The M-value curves in Fig 4,Fig 5 and Fig 6 were
This section selects appropriate experimental data for com- calculated based on data from five normal and quadratic
parative analysis.By comparing the M-value curve of normal walking experiments of subjects No. 1, No. 2, and No. 3,

Preprint submitted to WRC Symposium on Advanced Robotics and Automation 2018.

Received June 7, 2018.
 CONFIDENTIAL. Limited circulation. For review only.
respectively, over an angular momentum period. It can be
seen that the normal gait curve is concentrated in a specific
range, and the abnormal gait is higher or lower than this
range, or the range of the normal gait and abnormal gait M
curve is significant in the range distribution. difference. For
different experimenters and different abnormal gait, there is a
degree of differentiation. Therefore, according to the human
gait stability criterion proposed in this paper, human abnor-
mal gait and normal gait can be successfully separated. By
comparing the normal gait of the subjects with the abnormal
gait stability evaluation results, it can be found that for any
subject, the distribution range of the normal gait and the
abnormal gait M value range is significantly distinguished,
thus achieving stability differentiation . Compared with the
stability criterion of ZMP, the gait stability identification
method proposed in this paper does not consider the ground
support area and is more convenient to use. In terms of model
adaptability, as long as the model size, local centroid, and
other parameters are adjusted, all humanoid robots and even
non-humanoid bipedal systems are suitable for a wide range
of applicability.
V. CONCLUSIONS
This paper is based on the human walking motion capture
data. In combination with the anatomical model, the kine-
matics forward solution algorithm is used to calculate the
trajectory of the human joint and establish the kinematics
model of the human walking process. By introducing ground
reference points and combining Euler’s second theorem, an-
gular momentum balance and moment balance are analyzed.
Based on this, combined with force analysis and balance
analysis during human walking, the sagittal surface centroid
angular momentum, the forward direction centroid accelera-
tion, the zero moment point and the forward distance of the
central torque axis are used as parameters to establish the
human gait. Stability evaluation criteria. The research results
will lay a foundation for exploring the stability mechanism
of human walking stability, and provide new ideas for the
development of humanoid biped robots and rehabilitation of
patients’ walking. It has a guiding role in the bionics research
of humanoid biped robots and the rehabilitation of diseases
in abnormal walking.
ACKNOWLEDGMENT
This work was supported by the National Natu-
ral Science Foundation of China (NSFC) under Grants
61503325/F2014203246, Postdoctoral Science Foundation of
China under Grants 2015M581316 and the self-managed
project of YANSHAN University under Grants 13LGB009.
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