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

Zohaib Aftab 1, 2 Thomas Robert 2, * Pierre-Brice Wieber 1, 3
* Auteur correspondant
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : 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.
Type de document :
Communication dans un congrès
5èmes Journées Nationales de la Robotique Humanoïde, Jun 2010, Poitiers, France
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Contributeur : Zohaib Aftab <>
Soumis le : mercredi 23 juin 2010 - 17:09:06
Dernière modification le : vendredi 24 novembre 2017 - 13:30:59
Document(s) archivé(s) le : vendredi 24 septembre 2010 - 17:33:13

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Zohaib Aftab, Thomas Robert, Pierre-Brice Wieber. Comparison of Capture Point estimation with human foot placement: Applicability and Limitations. 5èmes Journées Nationales de la Robotique Humanoïde, Jun 2010, Poitiers, France. 〈hal-00494610〉

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