Biomedical Engineering Reference
In-Depth Information
0.25
0.2
0.15
0.1
0.05
0
-0.05
-0.1
-0.2
-0.1
0
0.1
0.2
(A)
0.25
0.2
0.15
0.1
0.05
0
-0.05
-0.1
-0.2
-0.1
0
0.1
0.2
(B)
0.25
0.2
0.15
0.1
0.05
0
-0.05
-0.1
-0.2
-0.1
0
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(C)
FIGURE 8.11
ZMP and feet support polygon for box lifting with various performance measures:
(A) stability criterion, (B) dynamic effort criterion, (C) weighted sum w
1
5
0.1 and w
2
5
0.9.
criterion predicts a back-lift box-lifting motion in which a large spine flexion
occurs without obvious knee-bending as shown in
Figure 8.10(A)
. The predicted
lifting motion gives maximum stability, and the ZMP trajectory focuses around
the center of the support polygon in
Figure 8.11(A)
. In contrast, the dynamic
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