Stepping behavior for stability control of a digital human model

Stability is a key feature of posture plausibility in digital human models (DHM). Stepping is a behavioral mechanism to ensure the stability of the body. The aim of this study is to propose a novel stepping behavior in the presence or absence of external loads, which ensures the stability of a DHM. An inverse kinematic (IK) solver was used to autonomously predict the posture of a DHM while stepping, using only limited information about the target position of the hand(s). The model describes the condition that triggers the step, the step length and the final feet positions. The stepping parameters were derived from the instantaneous position of the manikin zero moment point (ZMP) with respect to a stability region inside the support polygon. Experimental trials confirmed the implemented step behavior.