leaningtilting

Leaningtilting is a term used in biomechanics and robotics to describe a coordinated state in which an object or person simultaneously leans (translational displacement of the center of mass relative to the base) and tilts (rotational orientation about a horizontal axis). The concept provides a compact way to characterize posture and balance, capturing both how far the body leans and how it tilts away from upright. The term is not universally standardized; in some studies it appears as leaning-tilt, lean-tilt, or as a pair of related measures under a broader posture framework. It is most often applied to human movement and to the control of legged robots and assistive devices.

In practice, leaningtilting is quantified with inertial sensors, motion capture, or force plates. Lean is typically described by the lateral or anterior-posterior translation of the center of mass or trunk relative to the base of support, while tilt is the angular deviation from vertical around a horizontal axis. These two aspects can be measured separately and then combined into a two-parameter state vector, or embedded in a single pose representation on SE(3) or via Euler angles. In robotics, leaningtilting informs stable locomotion, manipulation, and human-robot interaction, enabling smoother posture transitions and adaptive control in uneven terrain or dynamic tasks.

Limitations include reference-frame dependence, coupling between translation and rotation, and non-uniqueness in how lean and tilt are defined for a given pose. See also posture, balance, tilt, and lean.