DocumentCode
393557
Title
A consideration on position of center of ground reaction force in upright posture
Author
Ito, Satoshi ; Saka, Yoshihisa ; Kawasaki, Haruhisa
Author_Institution
Fac. of Eng., Gifu Univ., Japan
Volume
2
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
1225
Abstract
The center of the ground reaction forces is useful to evaluate the balance of the biped system. Here, we consider where to control it when the foot has an asymmetrical structure like human being. Two control laws are examined from the view point of the ankle joint. output and postural stability. In order to discuss which of two should be used for biped robot control, we measure the position of the center of the ground reaction forces for human upright posture.
Keywords
biocontrol; biomechanics; legged locomotion; ankle joint output; asymmetrical foot; asymmetrical structure; biped robot control; biped system balance; ground reaction force center position; human being; postural stability; upright posture; Anthropometry; Foot; Force control; Force measurement; Humans; Indium tin oxide; Position measurement; Robot control; Shape control; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1195359
Filename
1195359
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