Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm
Figure 4
Top panel: final position of the hand in the forward direction () as a function of the final position of the target (). Bottom panel: final position of the CoM () as a function of the final position of the target (); stability requires that is smaller than a critical threshold (dashed line).
