Biped walking stabilization based on gait analysis

Kenji Hashimoto, Yuki Takezaki, Hiromitsu Motohashi, Takuya Otani, Tatsuhiro Kishi, Hun Ok Lim, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

This paper describes a walking stabilization control based on gait analysis for a biped humanoid robot. We have developed a human-like foot mechanism mimicking the medial longitudinal arch to clarify the function of the foot arch structure. To evaluate the arch function through walking experiments using a robot, a walking stabilization control should also be designed based on gait analysis. Physiologists suggest the ankle, hip and stepping strategies, but these strategies are proposed by measuring human beings who are not "walking" but "standing" against force disturbances. Therefore, first we conducted gait analysis in this study, and we modeled human walking strategy enough to be implemented on humanoid robots. We obtained following two findings from gait analysis: i) a foot-landing point exists on the line joining the stance leg and the projected point of CoM on the ground, and ii) the distance between steps is modified to keep mechanical energy at the landing within a certain value. A walking stabilization control is designed based on the gait analysis. Verification of the proposed control is conducted through experiments with a human-sized humanoid robot WABIAN-2R. The experimental videos are supplemented.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages154-159
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012 Jan 1
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 2012 May 142012 May 18

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Biped walking stabilization based on gait analysis'. Together they form a unique fingerprint.

  • Cite this

    Hashimoto, K., Takezaki, Y., Motohashi, H., Otani, T., Kishi, T., Lim, H. O., & Takanishi, A. (2012). Biped walking stabilization based on gait analysis. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 154-159). [6225253] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225253