Zero moment point-measurements from a human walker wearing robot feet as shoes

• Published in: IEEE transactions on systems, man and cybernetics. Part A, Systems and humans Vol. 34; no. 5; pp. 638 - 648
• Main Authors: Sardain, P., Bessonnet, G.
• Format: Journal Article
• Language: English
• Published: IEEE 01.09.2004
• Subjects: Anthropomorphism; Councils; Data analysis; Footwear; Humans; Least squares approximation; Legged locomotion; Parallel robots; Phase measurement; Robot sensing systems

The anthropomorphic biped robot Bip is equipped with sensors for measuring the ground/feet forces in order to localize the center of pressure (CoP) and zero moment point (ZMP). This paper focuses on experimental results regarding the evolution of the ground contact forces, obtained from a human walk...