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Capturability of a robot determines whether it is able to capture a robotwithin a number of steps. Current capturability analysis is based on stance legdynamics, without taking adequate consideration on swing leg. In this paper, wecombine capturability-based analysis with swing leg dynamics. We firstassociate original definition of capturability with a time-margin, whichencodes a time sequence that can capture the robot. This time-margincapturability requires consideration of swing leg, and we therefore introduce aswing leg kernel that acts as a bridge between step time and step length. Weanalyze N-step capturability with a combined model of swing leg kernels and alinear inverted pendulum model. By analyzing swing leg kernels with differentparameters, we find that more powerful actuation and longer normalized steplength result in greater capturability. We also answer the question whethermore steps would give greater capturability. For a given disturbance, we find astep sequence that minimizes actuation. This step sequence is whether a steptime sequence or a step length sequence, and this classification is based onboundary value problem analysis.

Capturability-based Analysis of Legged Robot with Consideration of Swing Legs