@conference {6190,
	title = {Quantifying Balance Capabilities using Momentum Gain},
	booktitle = {IEEE-RAS Int. Conf. on Humanoid Robotics (HUMANOIDS)},
	year = {2017},
	pages = {561-568},
	abstract = {<p>
	The ability of a legged system to balance depends\&nbsp;on both the control strategy used and the system{\textquoteright}s physical\&nbsp;design. To quantify a system{\textquoteright}s inherent balance capabilities, we define\&nbsp;momentum gains\&nbsp;for general\&nbsp;2D and 3D models. We provide two methods for calculating\&nbsp;these gains, and relate both velocity and momentum gains to the\&nbsp;centroidal momentum of a system, a commonly used measure of\&nbsp;aggregate system behaviour. Finally, we compare velocity and\&nbsp;momentum gains as criteria for the design of simple balancing\&nbsp;systems using a parameterized optimization framework.
</p>
},
	url = {http://ieeexplore.ieee.org/document/8246928/},
	author = {Brandon J DeHart and Dana Kulic}
}
