Zero moment point (ZMP) is an important balance criterion for human motion planning. An important term in the ZMP formula is the rate of angular momentum (RAM) of each link. It is not trivial to compute this term compared to other terms in ZMP formula. In this paper, we first propose an efficient recursive Lagrangian method for calculating the rate of angular momentum in ZMP. This new approach gives a direct way to calculate the rate of angular momentum for each link. Secondly, we evaluate the effects of RAM in ZMP on human motion predictions for walking and running. These two motions are characterized as low speed and high speed motions respectively. We conclude that it is critical to include RAM in ZMP to predict accurate high speed motion. It has relatively less effect on low speed motion.

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