Heel-contact toe-off walking model based on the linear inverted pendulum

Yukitoshi Minami, Przemysław Kryczka, Kenji Hashimoto, Hun Ok Lim, Atsuo Takanishi

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

    1 Citation (Scopus)

    Abstract

    We propose a new heel-contact toe-off walking model based on the Linear Inverted Pendulum (LIP) model, which due to the linearity and the ease of manipulation of the equations, could be considered to be advantageous for a future online implementation for the generation of walking patterns. This new model is based on the so called functional rockers of the foot (heel, ankle and forefoot rockers), each of which are modeled as an inverted pendulum, changing the ground contact point position of the inverted pendulums for each rocker. We focus on the motion of the Center of Mass (CoM) in the sagittal plane, as it is the plane on which the rockers take place, but also generate the motions on the frontal plane. The model proved to work for constant velocity, accelerating and decelerating gaits, and the effects of the change of pivot point during heel-contact toe-off could be corroborated in the Zero Moment Point (ZMP) graphs. The implementation of this model could improve the human likeness of the motions, as well as the stability of the locomotion.

    Original languageEnglish
    Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
    PublisherIEEE Computer Society
    Pages221-226
    Number of pages6
    ISBN (Print)9781479931262
    Publication statusPublished - 2014 Sep 30
    Event5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo
    Duration: 2014 Aug 122014 Aug 15

    Other

    Other5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
    CitySao Paulo
    Period14/8/1214/8/15

    Fingerprint

    Pendulums
    Point contacts

    Keywords

    • Gait pattern generation
    • Heel-contact toe-off motion
    • LIP model

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Biomedical Engineering
    • Mechanical Engineering

    Cite this

    Minami, Y., Kryczka, P., Hashimoto, K., Lim, H. O., & Takanishi, A. (2014). Heel-contact toe-off walking model based on the linear inverted pendulum. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 221-226). [6913780] IEEE Computer Society.

    Heel-contact toe-off walking model based on the linear inverted pendulum. / Minami, Yukitoshi; Kryczka, Przemysław; Hashimoto, Kenji; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society, 2014. p. 221-226 6913780.

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

    Minami, Y, Kryczka, P, Hashimoto, K, Lim, HO & Takanishi, A 2014, Heel-contact toe-off walking model based on the linear inverted pendulum. in Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics., 6913780, IEEE Computer Society, pp. 221-226, 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, 14/8/12.
    Minami Y, Kryczka P, Hashimoto K, Lim HO, Takanishi A. Heel-contact toe-off walking model based on the linear inverted pendulum. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society. 2014. p. 221-226. 6913780
    Minami, Yukitoshi ; Kryczka, Przemysław ; Hashimoto, Kenji ; Lim, Hun Ok ; Takanishi, Atsuo. / Heel-contact toe-off walking model based on the linear inverted pendulum. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society, 2014. pp. 221-226
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