Zero Moment Point—Measurements From a Human Walker Wearing Robot Feet as Shoes

The anthropomorphic biped robot Bip is equipped with sensors for measuring the ground/feet forces in order to localize the center of pressure (CoP) and zero moment point (ZMP). This paper focuses on experimental results regarding the evolution of the ground contact forces, obtained from a human walker wearing the robot feet as shoes. First, one determines the influence of heavy and rigid metallic shoes on the gait of the subject, during experiments carried out on flat ground. Second, the evolution of the contact forces is studied while walking on parallel planes with different elevations (stairs), then one addresses the case where the feet are supported by two nonparallel planes (uneven terrain). The corresponding analysis is founded on the concepts of virtual supporting surface and pseudo-CoP-ZMP introduced in a companion paper, discussing the theoretical aspects of CoP and ZMP (Sardain and Bessonnet, 2004). Beyond the academic contribution, the data analyzed in this paper could constitute an incitement to design truly anthropomorphic feet, for Bip as well as for other biped robots, because all the current robot feet are functionally rather poor.