Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors

Gautam Narang; Weisheng Kong; Pu Xu; Arjun Narang; Soumya Singh; Kenji Hashimoto; Massimiliano Zecca; Atsuo Takanishi

doi:10.1109/sii.2013.6776729

Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors

Gautam Narang, Weisheng Kong, Pu Xu, Arjun Narang, Soumya Singh, Kenji Hashimoto, Massimiliano Zecca, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

WABIAN-2R is a bipedal humanoid robot which is capable of stretched knee walking with heel-contact and toe-off motions due to the presence of a 2-DoF waist and a passive joint for bending toe motion, and can thus mimic human-like walking. This paper aims to determine the similarity between the walking gait of WABIAN-2R to the natural walking gait of a human of comparable size and stature, on the factors (i) pelvic tilt, (ii) pelvic rotation, (iii) swing and stance percentage, and (iv) double limb support and single limb support percentage using inertial measurement units and force-torque sensors.

Original language	English
Title of host publication	2013 IEEE/SICE International Symposium on System Integration, SII 2013
Publisher	IEEE Computer Society
Pages	198-203
Number of pages	6
ISBN (Print)	9781479926268
DOIs	https://doi.org/10.1109/sii.2013.6776729
Publication status	Published - 2013
Event	2013 6th IEEE/SICE International Symposium on System Integration, SII 2013 - Kobe, Japan Duration: 2013 Dec 15 → 2013 Dec 17

Publication series

Name	2013 IEEE/SICE International Symposium on System Integration, SII 2013

Conference

Conference	2013 6th IEEE/SICE International Symposium on System Integration, SII 2013
Country/Territory	Japan
City	Kobe
Period	13/12/15 → 13/12/17

Keywords

Biped walking
Humanoid robots
Inertial measurement units
WABIAN-2R
Walking trajectory

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/sii.2013.6776729

Cite this

Narang, G., Kong, W., Xu, P., Narang, A., Singh, S., Hashimoto, K., Zecca, M., & Takanishi, A. (2013). Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors. In 2013 IEEE/SICE International Symposium on System Integration, SII 2013 (pp. 198-203). [6776729] (2013 IEEE/SICE International Symposium on System Integration, SII 2013). IEEE Computer Society. https://doi.org/10.1109/sii.2013.6776729

Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors. / Narang, Gautam; Kong, Weisheng; Xu, Pu et al.

2013 IEEE/SICE International Symposium on System Integration, SII 2013. IEEE Computer Society, 2013. p. 198-203 6776729 (2013 IEEE/SICE International Symposium on System Integration, SII 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Narang, G, Kong, W, Xu, P, Narang, A, Singh, S, Hashimoto, K, Zecca, M & Takanishi, A 2013, Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors. in 2013 IEEE/SICE International Symposium on System Integration, SII 2013., 6776729, 2013 IEEE/SICE International Symposium on System Integration, SII 2013, IEEE Computer Society, pp. 198-203, 2013 6th IEEE/SICE International Symposium on System Integration, SII 2013, Kobe, Japan, 13/12/15. https://doi.org/10.1109/sii.2013.6776729

Narang G, Kong W, Xu P, Narang A, Singh S, Hashimoto K et al. Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors. In 2013 IEEE/SICE International Symposium on System Integration, SII 2013. IEEE Computer Society. 2013. p. 198-203. 6776729. (2013 IEEE/SICE International Symposium on System Integration, SII 2013). doi: 10.1109/sii.2013.6776729

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abstract = "WABIAN-2R is a bipedal humanoid robot which is capable of stretched knee walking with heel-contact and toe-off motions due to the presence of a 2-DoF waist and a passive joint for bending toe motion, and can thus mimic human-like walking. This paper aims to determine the similarity between the walking gait of WABIAN-2R to the natural walking gait of a human of comparable size and stature, on the factors (i) pelvic tilt, (ii) pelvic rotation, (iii) swing and stance percentage, and (iv) double limb support and single limb support percentage using inertial measurement units and force-torque sensors.",

keywords = "Biped walking, Humanoid robots, Inertial measurement units, WABIAN-2R, Walking trajectory",

author = "Gautam Narang and Weisheng Kong and Pu Xu and Arjun Narang and Soumya Singh and Kenji Hashimoto and Massimiliano Zecca and Atsuo Takanishi",

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doi = "10.1109/sii.2013.6776729",

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AU - Singh, Soumya

AU - Hashimoto, Kenji

AU - Zecca, Massimiliano

AU - Takanishi, Atsuo

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AB - WABIAN-2R is a bipedal humanoid robot which is capable of stretched knee walking with heel-contact and toe-off motions due to the presence of a 2-DoF waist and a passive joint for bending toe motion, and can thus mimic human-like walking. This paper aims to determine the similarity between the walking gait of WABIAN-2R to the natural walking gait of a human of comparable size and stature, on the factors (i) pelvic tilt, (ii) pelvic rotation, (iii) swing and stance percentage, and (iv) double limb support and single limb support percentage using inertial measurement units and force-torque sensors.

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Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors

Abstract

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Keywords

ASJC Scopus subject areas

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