Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/abb/volume-2017/5980275/figures/5980275.fig.0014a.svgz" name="5980275.fig.0014a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>The time course of ankle joint angle (right leg)</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/abb/volume-2017/5980275/figures/5980275.fig.0014b.svgz" name="5980275.fig.0014b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>The time course of the CoP position</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/abb/volume-2017/5980275/figures/5980275.fig.0014c.svgz" name="5980275.fig.0014c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>The averaged time course of ankle joint angle (right leg)</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/abb/volume-2017/5980275/figures/5980275.fig.0014d.svgz" name="5980275.fig.0014d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>The averaged time course of the CoP position</td></tr></table>

<div>Experiments on the 9-degree slope without gravity compensation.</div>

Applied Bionics and Biomechanics

fig14

Figure 14

Figure 14: Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control 