Biomechanics and Robotics

315

Exercise Problems, Questions, and Projects

29. The center of mass (CM) of a person of weight 80 kg is located at

point (0.0, 0.0, 1.1) m. The CM acceleration is (0.1, 0.2, –0.1) m/s

2



moment point (ZMP) or center of pressure (CP) location on the

ground (x, y, 0).

CM

ZM P

gM

�

..RG

F

�

aM

�

Hint: The vector sum of gravity and ground reaction force is

equal to mass times acceleration. Hence, one could solve for

ground reaction force. The moment about CM is the vector

product of



rr

ZMPCM

-

and ground reaction force



F

GR

.

30. Explain how the physical realism of