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Motion synthesis and force distribution analysis for a biped robot
Acta of Bioengineering and Biomechanics
In this paper, the method of generating biped robot motion using recorded human gait is presented. The recorded data were modified taking into account the velocity available for robot drives. Data includes only selected joint angles, therefore the missing values were obtained considering the dynamic postural stability of the robot, which means obtaining an adequate motion trajectory of the so-called Zero Moment Point (ZMT). Also, the method of determining the ground reaction forces'pmid:21761810 fatcat:frwc5vke5fg23hbjkw4om6k3k4