Ground reference points in legged locomotion: Definitions, biological trajectories and control implications

International Journal of Robotics Research

Volumn 24, Issue 12, 2005, Pages 1013-1032

  Popovic, Marko B ^a   Goswami, Ambarish ^b   Herr, Hugh ^c  

^a MIT MEDIA LAB   (United States)

^b HONDA RESEARCH INSTITUTE   (United States)

^c and Red Sox Foundation and Massachusetts General Hospital Home Base Program   (United States)

Author keywords

Biomechanics; Center of pressure; Centroidal moment pivot; Control; Foot rotation indicator; Human; Legged locomotion; Zero moment point

Indexed keywords

BIOMECHANICS; CONTROL; CONTROL THEORY; PRESSURE EFFECTS; ROBOTICS; ROTATION; TRAJECTORIES;

CENTER OF PRESSURE; CENTROIDAL MOMENT PIVOT; FOOT ROTATION INDICATOR; HUMAN; LEGGED LOCOMOTION; ZERO MOMENT POINT (ZMP);

BIPED LOCOMOTION;

EID: 29144521705     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364905058363     Document Type: Article

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