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 proceedingConference contribution

1 Citation (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 languageEnglish
Title of host publication2013 IEEE/SICE International Symposium on System Integration, SII 2013
PublisherIEEE Computer Society
Pages198-203
Number of pages6
ISBN (Print)9781479926268
DOIs
Publication statusPublished - 2013
Event2013 6th IEEE/SICE International Symposium on System Integration, SII 2013 - Kobe, Japan
Duration: 2013 Dec 152013 Dec 17

Publication series

Name2013 IEEE/SICE International Symposium on System Integration, SII 2013

Conference

Conference2013 6th IEEE/SICE International Symposium on System Integration, SII 2013
CountryJapan
CityKobe
Period13/12/1513/12/17

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • 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