Journal of Theoretical
and Applied Mechanics

45, 1, pp. 91-98, Warsaw 2007

Analysis of stability of the human gait

Jerzy Mrozowski, Jan Awrejcewicz, Piotr Bamberski
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 measurement data obtained from the human gait recorded with a digital camera.
Keywords: human gait; stability criteria