Biped walking stabilization on soft ground based on gait analysis

Hyun Jin Kang, Kenji Hashimoto, Kosuke Nishikawa, Egidio Falotico, Hun Ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario, Alain Berthoz

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

7 Citations (Scopus)

Abstract

This paper describes a walking stabilization control on a soft ground based on gait analysis for a biped humanoid robot. There are many studies on gait analysis on a hard ground, but few physiologists analyze the walking ability of human beings on a soft ground. Therefore, we conducted anthropometric measurement using VICON motion capture system on a soft ground. By analyzing experimental results, we obtained three findings. The first finding is that step height tends to increase to avoid tripping on a soft ground but there are no significant differences in step length and step width. The second finding is that although the CoM amplitude increases in the vertical direction on a soft ground, there are no significant differences in the CoM trajectories in the lateral direction. The last finding is that the head is stabilized during walking not only on a hard ground but also on a soft ground. Based on these findings, we developed a novel walking stabilization control to stabilize the CoM motion in the lateral direction on a soft ground. 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 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages669-674
Number of pages6
DOIs
Publication statusPublished - 2012 Oct 18
Externally publishedYes
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: 2012 Jun 242012 Jun 27

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Conference

Conference2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
CountryItaly
CityRome
Period12/6/2412/6/27

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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  • Cite this

    Kang, H. J., Hashimoto, K., Nishikawa, K., Falotico, E., Lim, H. O., Takanishi, A., Laschi, C., Dario, P., & Berthoz, A. (2012). Biped walking stabilization on soft ground based on gait analysis. In 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 (pp. 669-674). [6290870] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). https://doi.org/10.1109/BioRob.2012.6290870