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.008a.svgz" name="5980275.fig.008a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Slope angle</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/abb/volume-2017/5980275/figures/5980275.fig.008b.svgz" name="5980275.fig.008b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Ankle joint angle</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/abb/volume-2017/5980275/figures/5980275.fig.008c.svgz" name="5980275.fig.008c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Time course of <i>F</i><sub><i>H</i></sub></td></tr></table>

<div>Responses with respect to different magnitudes of the external force.</div>

Applied Bionics and Biomechanics

fig8

Figure 8

Figure 8: Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control 