ZMP and GCOM criteria as a base of assessment of the human gait stability

• Autorzy: Mrozowski J. , Awrejcewicz J.
• Konferencja: Biomechanika'06 / Międzynarodowa Konferencja (06-08.09.2006 ; Zakopane, Polska)
• Języki publikacji: EN

Abstrakty

EN

An analysis of the gait stability of the man moving along an even surface with a constant velocity is presented. The stability criteria applied to biped robots, namely: the ZMP (Zero Moment Point) and the GCOM (Ground projection of the Center Of Mass) have been employed in the investigations. The analysis has been carried out on the basis of the measurement data obtained from the human gait recorded with two digital camcorders.

Słowa kluczowe

EN

human gait; gait stability; biped robot; biomechanics

PL

chód człowieka; stabilność chodu; robot dwunożny; biomechanika

• Wydawca: Wydawnictwo Katedry Mechaniki Stosowanej
• Czasopismo: Zeszyty Naukowe Katedry Mechaniki Stosowanej / Politechnika Śląska
• Rocznik: 2006
• Tom: z. 26
• Strony: 253--258
• Opis fizyczny: Bibliogr. 5 poz.

Twórcy

autor

Mrozowski J.

autor

Awrejcewicz J.

• Department of Automatics and Biomechanics, Technical University of Lodz, Poland

Bibliografia

• [1] Goswami A.: Postural stability of biped robots and the foot rotation indicator (FRI) point, International Journal of Robotics Research, Vol. 18, No. 6, 1999.
• [2] Jinhyun K., Wan K. C, Youngil Y.: Real time ZMP compensation method using null motion for mobile manipulators, Proc. 2002 IEEE, Washington, May 2002.
• [3] Tak S., Oh-young S., Hyeong S.: Motion Balance filtering, Eurographics, Vol. 19, 2000.
• [4] Tejszerska D., Michnik R., Jurkojć J., Jureczko P.: Modelling of human gait. Proceedings of the 13th Conference of European Society of Biomechanics, Wroclaw 2002.
• [5] Vukobratovic, Borovac M., Surla B., Biped locomotion: dynamics, stability, control and application. Springer, Berlin 1990.