Abstract
The idea of the zero moment point (ZMP) that has been often used in both the simulation of human walking and the control of a bipedal robot is extended. Our model which consists of eight elements can simulate both the normal and the abnormal human walking. The model has a zero moment joint (ZMJ), which cannot generate moment during the stance Phase, in one leg. Assuming that the motions of the lower torso and the lower extremities are the same pattern as in the normal, various simulations are carried out. Main results are the following: the motion of a point of application of floor reaction in the leg with the ZMJ is restrained, and becomes greater as the ZMJ locates higher position in the leg; the lost function at the ZMJ is mainly compensated by the normal joints located in the lower position than the ZMJ. The simulation results by our model will be useful to a synthesis of artificial leg, an assessment of the abnormal walking, and a design of the bipedal walking machine.
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