Analysis of stability of the human gait

摘要

Analysis of the gait stability of a man moving along an even surface with a constant velocity is presented. The stability criteria applied to biped robots, namely: the Zero Moment Point (ZMP) and the Ground projection of the Center Of Mass (GCOM) have been employed in the investigations. The analysis has been carried out on the basis of me-asurement data obtained from the human gait recorded with a digital camera. Key words: human gait, stability criteria 1.