Abstract
This paper describes our research efforts aimed at understanding human being walking functions. Using a motion-capture system, force plates and distributed force sensors, walk motion of both human being and humanoid H7 was captured. Experimental results are shown. Comparisons in between human being and H7 walk made using the following characteristics: (1) ZMP trajectories; (2) torso movement; (3) free leg trajectories; (4) joint angle usage; (5) joint torque usage. Furthermore, implications of the comparisons to the humanoid robot are discussed.
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