Measurement and comparison of human and humanoid walking

This paper describes our research efforts aimed at understanding human being walking functions. Using motion capture system, force plates and distributed force sensors, both human being and humanoid H7 walk motion were captured. Experimental results are shown. Comparison in between human being with H7 walk in following points are discussed: 1) ZMP trajectories, 2) torso movement, 3) free leg trajectories, 4) joint angle usage, 5) joint torque usage. Furthermore, application to the humanoid robot is discussed.