Experimental Evaluation of the Accuracy of Biped Model to Predict the Kinematics during Walking

Figure 5

: Signals acquired by the sensor at chest of volunteer No. 1 in natural walking. During the whole test shown in (a), peaks of accelerations increase with the step frequencies. Within the time walking in 2.0 Hz shown in (b), accelerations during walking are different from that during turning round. For each walking duration shown in (c), we only analyze the stable parts (in the red area), ignoring unstable acceleration signals (in the blue area).