Swaysand
Swaysand is a term used in legged robotics to describe a dynamic balance strategy that coordinates lateral swaying with momentary stance to improve stability on uneven or compliant surfaces. The concept centers on alternating between a sway phase, which gently shifts the center of mass laterally, and a stand phase, which provides solid vertical support for the next step. The name reflects the combination of sway and stand as a single, continuous locomotion cycle.
The approach relies on a real-time control loop that integrates a simplified dynamics model, sensor feedback
Swaysand emerged in robotics literature during the mid-2010s as researchers sought alternatives to rigid-gait schemes. Early
Applications span research prototyping, prosthetic legs, and assistive devices where robust balance is essential. Limitations include