A consideration on position of center of ground reaction force in upright posture

The center of the ground reaction forces is useful to evaluate the balance of the biped system. Here, we consider where to control it when the foot has an asymmetrical structure like human being. Two control laws are examined from the view point of the ankle joint. output and postural stability. In order to discuss which of two should be used for biped robot control, we measure the position of the center of the ground reaction forces for human upright posture.