A balance control in biped double support phase based on center of pressure of ground reaction forces

Ito, Satoshi; Asano, Hironori; Kawasaki, Haruhisa

doi:10.1016/s1474-6670(17)33391-8

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2006

2024

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Cited by 6 publications

(1 citation statement)

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“…To maintain balance without motion planning, we introduce the direct centre of pressure (CoP), i.e. ZMP control (Ito et al, 2003; (the CoP is equivalent to the ZMP). Instead of an indirect balancing method, such as tracking the positions of trajectories planned using the ZMP criterion, we select the ZMP directly as the control variable.…”

Section: Introductionmentioning

confidence: 99%

Motion Control of Biped Lateral Stepping Based on Zero Moment Point Feedback for Adaptation to Slopes

Ito¹,

Sasaki²

2011

Biped Robots

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Section: Introductionmentioning

confidence: 99%

Motion Control of Biped Lateral Stepping Based on Zero Moment Point Feedback for Adaptation to Slopes

Ito¹,

Sasaki²

2011

Biped Robots

Self Cite

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A dynamic gait stabilization algorithm for quadrupedal locomotion through contact time modulation

Yeom

Bae

2021

Nonlinear Dyn

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Ballet balance strategies

Pedersen

Erleben

Sporring

2006

Simulation Modelling Practice and Theory

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Animating physically realistic human characters is challenging, since human observers are highly tuned to recognize human cues such as emotion and gender from motion patterns. The main contribution of this paper is a new model firmly based on biomechanics, which is used to animate balance and basic movements of a ballet dancers. It is supported by computer simulated experiments and it is in good agreement with biomechanical measurements of real-life dancers. Our results questions the previous approaches in dynamic animation, which only uses the center of gravity strategy, and instead demonstrate the viability of the center of pressure strategy.

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A balance control in biped double support phase based on center of pressure of ground reaction forces

Cited by 6 publications

References 4 publications

Motion Control of Biped Lateral Stepping Based on Zero Moment Point Feedback for Adaptation to Slopes

Motion Control of Biped Lateral Stepping Based on Zero Moment Point Feedback for Adaptation to Slopes

A dynamic gait stabilization algorithm for quadrupedal locomotion through contact time modulation

Ballet balance strategies

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