@article {16113,
	title = {Quantifying Balance Capabilities for Optimal Mechanism Design},
	journal = {IEEE Transactions on Robotics},
	year = {Submitted},
	abstract = {For legged systems, achieving balance and locomotion depends on the system{\textquoteright}s capability to effectively and efficiently move its Center of Mass relative to its contact point(s).\&nbsp;To measure this capability, we introduce a generalization of velocity gains: dynamic ratios which quantify this motion for passive contacts.\&nbsp;We incorporate this generalized gain into an objective function and apply weighted matrix norms to facilitate the parameterized design optimization of 3D mechanisms.\&nbsp;We then demonstrate the proposed approach in the design of a 3D 5-link biped across several different design objectives.},
	author = {DeHart, Brandon J. and Gorbet, Rob and Kulic, Dana}
}
