Comparison of Capture Point estimation with human foot placement: Applicability and Limitations

For bipeds like humans, taking a step to recover its balance is fundamental. The question that arises is the location where the biped should step. Pratt et al. developed an algorithm to estimate the so-called Capture Point, a point on ground where a robot can step in order to bring itself to a complete stop. The objective of the current work is to test the applicability of the algorithm for the prediction of step location in humans under perturbed state.