Title: Force-shoes ZMP measuring system for human walker

Authors: Fu Chunqian, Wang Xingsong

Addresses: School of Mechanical Engineering, Southeast University, Nanjing 211189, PR China. ' School of Mechanical Engineering, Southeast University, Nanjing 211189, PR China

Abstract: A novel force-shoes system for measuring the zero moment point (ZMP) of human walker is introduced in this paper, which could measure the plantar distributed normal forces and friction forces during human walking. The improved ZMP calculation method developed in this paper is easy for programming. In contrast with the previous ZMP measuring methods, there are many advantages of the proposed force-shoes system, for example, light and novel structured, low coupling, easy for programming, less affection on normal walking, suited for long-time and diverse terrains testing. Two experiments carried out on different terrains, one is on the plain and the other is on the slope, are presented in this paper and some of the results are shown and discussed.

Keywords: biped robots; ZMP; zero moment point; force sensors; walking gait; robot walking; robot gaits; human walking; friction forces.

DOI: 10.1504/IJISTA.2010.030200

International Journal of Intelligent Systems Technologies and Applications, 2010 Vol.8 No.1/2/3/4, pp.200 - 214

Published online: 11 Dec 2009 *

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