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
    Publication statusPublished - 2013
    Event2013 6th IEEE/SICE International Symposium on System Integration, SII 2013 - Kobe
    Duration: 2013 Dec 152013 Dec 17

    Other

    Other2013 6th IEEE/SICE International Symposium on System Integration, SII 2013
    CityKobe
    Period13/12/1513/12/17

    Fingerprint

    Units of measurement
    Torque
    Robots
    Sensors

    Keywords

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

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Narang, G., Kong, W., Xu, P., Narang, A., Singh, S., Hashimoto, K., ... 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] IEEE Computer Society.

    Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors. / Narang, Gautam; Kong, Weisheng; Xu, Pu; Narang, Arjun; Singh, Soumya; Hashimoto, Kenji; Zecca, Massimiliano; Takanishi, Atsuo.

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

    Research output: Chapter in Book/Report/Conference proceedingConference 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, IEEE Computer Society, pp. 198-203, 2013 6th IEEE/SICE International Symposium on System Integration, SII 2013, Kobe, 13/12/15.
    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
    Narang, Gautam ; Kong, Weisheng ; Xu, Pu ; Narang, Arjun ; Singh, Soumya ; Hashimoto, Kenji ; Zecca, Massimiliano ; Takanishi, Atsuo. / Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors. 2013 IEEE/SICE International Symposium on System Integration, SII 2013. IEEE Computer Society, 2013. pp. 198-203
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