This paper presents a simple inverted pendulum gait model to study walking under slip conditions. The model allows for both the horizontal and vertical movements of the center of mass during normal walking and walking gaits with foot slip. Stability of the system is analyzed using the concept of capturability. Considering foot placement as a control input, we obtain the stable regions which lead to stable gait. The size of those stable regions is used to evaluate the effect of the coefficient of friction and the slip reaction time on capturability. We also analyze the feasibility of recovery from slip gait in relation to the coefficient of friction and the reaction time. The results confirm the effectiveness of the model and the capturability developement.

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