------------ Foot ----------------------------------------</span>
0077 
0078 <span class="comment">% Position du CoM par rapport au rep�e de r��ence</span>
0079 MetatarsalJoint2Node = (k*[0 -0.0725 0.015])*Mirror;
0080 MalleousLateralNode = (k*[0.065 0.053 0.025])*Mirror;
0081 CoM_Foot=0.5*(MetatarsalJoint2Node-MalleousLateralNode)+MalleousLateralNode;
0082 
0083 <span class="comment">% Node locations</span>
0084 Foot_AnkleJointNode = (k*[0.06 0.06 0])*Mirror - CoM_Foot;
0085 Foot_ToetipNode = (k*[-0.