HAL - INRIA :: [hal-00494610, version 1] Comparison of Capture Point estimation with human foot placement : Applicability and Limitations

hal-00494610, version 1

Comparison of Capture Point estimation with human foot placement : Applicability and Limitations

Zohaib Aftab () ^1, 2, Thomas Robert ( Auteur à contacter de préférence ) ², Pierre-Brice Wieber () ^1, 3

5èmes Journées Nationales de la Robotique Humanoïde (2010)

Résumé : For bipeds like humans, taking a step to recover its balance is fundamental. The question that arises is the location where the biped should step. Pratt et al. developed an algorithm to estimate the so-called Capture Point, a point on ground where a robot can step in order to bring itself to a complete stop. The objective of the current work is to test the applicability of the algorithm for the prediction of step location in humans under perturbed state.

1 : BIPOP (INRIA Grenoble Rhône-Alpes / LJK Laboratoire Jean Kuntzmann)
INRIA – Laboratoire Jean Kuntzmann
2 : Laboratoire de Biomécanique et Mécanique des Chocs (LBMC)
IFSTTAR – Université Claude Bernard - Lyon I
3 : Joint Robotics Laboratory AIST & CNRS (JRL)
AIST – CNRS : UMI3218

hal-00494610, version 1
http://hal.archives-ouvertes.fr/hal-00494610
oai:hal.archives-ouvertes.fr:hal-00494610
Contributeur : Zohaib Aftab <>
Soumis le : Mercredi 23 Juin 2010, 17:09:06
Dernière modification le : Mardi 25 Octobre 2011, 12:01:24

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