Analysis about the stability of walking based on ZMP theory through a simulation

Abstract

In order to establish the method estimating the stability of human walking, we propose evaluation of the stability based on ZMP theory through a simulation of human walking. According to the result, we confirm that ZMP is located within support polygon when the walking is stable and ZMP is located out of support polygon when the walking is unstable. Therefore, we could say that it is correct to estimate the stability of human walking based on the ZMP theory.