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

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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.
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Dates and versions

hal-00494610 , version 1 (23-06-2010)

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  • HAL Id : hal-00494610 , version 1

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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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