Is there any analogy between foot stability and dynamic grasp?

Similarities between foot stability in single support phase of dynamic legged locomotion and dynamic grasp during nonprehensile carrying of an object on a palm are studied. Both foot stability and dynamic grasp conditions are driven mathematically. Then it is shown that these two conditions share the same basic dynamical concepts. It is also revealed that dynamic grasp and foot stability conditions have structurally the same equations when the palm -in object manipulation- and the ground -in legged locomotion- are horizontal. In this situation, parameters of the equations are very similar. It is demonstrated that the effects of violation of foot stability and dynamic grasp conditions are behaviorally the same. In addition to analytical discussions, some simulation examples in ADAMS are provided to validate the presented models and the results.