The parameters of walking have been studied from the viewpoints of joint rotation and translation of body. The balance and symmetry of walking are indispensable features to understand for healthy walking, while also being a personal characteristic. However, quantification has not been easy to carry out in the case of the conventional gait parameters COG (center of gravity) and ZMP (zero moment point). In this approach, the CP (crossing point) is proposed to quantify the concept of symmetry and balance by comparing it to the COG and ZMP. The CP is estimated based on the intersection between the hip line and the ankle line. While the hip line is fixed on the upper body where the COG is, the ankle line is altered depending on the each footfall, where the ZMP is. Therefore, the values of COG, ZMP, and CP have similar or different tendencies in terms of whether balanced walking results in symmetry or not. The validity of this is verified by carrying out a simulation with robot walking, and an experiment using human walking. Through additional experiments, it was noticed that the CP was able to improve the role of COG and ZMP in terms of not only stability, but also its relationship with the movement range of the lower limbs.

中文翻译：

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一种基于平衡，对称和稳定性的COG，ZMP和CP人体步行分析方法

从关节的旋转和平移的角度研究了步行的参数。步行的平衡和对称性是了解健康步行必不可少的功能，同时也是个人特征。然而，在常规步态参数COG（重心）和ZMP（零力矩点）的情况下，量化并不容易进行。在这种方法中，提出了CP（交叉点）以通过与COG和ZMP进行比较来量化对称和平衡的概念。基于臀部线和踝线之间的交点估计CP。臀部线固定在COG所在的上半身，而脚踝线根据ZMP所在的每次落脚点而改变。因此，COG，ZMP，就平衡行走是否对称而言，CP和CP具有相似或不同的趋势。通过使用机器人行走进行仿真以及使用人类行走进行实验，可以验证其有效性。通过其他实验，注意到CP不仅可以提高稳定性，还可以改善COG和ZMP与下肢运动范围的关系。