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Legged locomotion has received increasing attention from the roboticscommunity. In this respect, contact stability plays a critical role in ensuringthat robots maintain balance, and it is a key element for balancing and walkingcontrollers. The Center of Pressure is a contact stability criterion thatdefines a point that must be kept strictly inside the support polygon in orderto ensure postural stability. In this paper, we introduce the concept of thesensitivity of the static center of pressure: roughly speaking, the rate ofchange of the center of pressure with respect to the system equilibriumconfigurations. This new concept can be used as an additional criterion toassess the robustness of the contact stability. We show how the sensitivity ofthe center of pressure can also be used as a metric to assess balancingcontrollers by considering two state-of-the-art control strategies. Theanalytical analysis is performed on a simplified model, and validated duringbalancing tasks on the iCub humanoid robot.

The Static Center of Pressure Sensitivity: a further Criterion to assess Contact Stability and Balancing Controllers