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 publication"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
EditorsRaffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo
PublisherIEEE Computer Society
Pages221-226
Number of pages6
ISBN (Electronic)9781479931262
DOIs
Publication statusPublished - 2014 Sep 30
Event5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil
Duration: 2014 Aug 122014 Aug 15

Publication series

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

Conference

Conference5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
CountryBrazil
CitySao Paulo
Period14/8/1214/8/15

Keywords

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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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  • 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 R. Carloni, L. Masia, J. M. Sabater-Navarro, M. Ackermann, S. Agrawal, A. Ajoudani, P. Artemiadis, M. Bianchi, A. P. Lanari Bo, M. Casadio, K. Cleary, A. Deshpande, D. Formica, M. Fumagalli, N. Garcia-Aracil, S. B. Godfrey, I. S. M. Khalil, O. Lambercy, R. C. V. Loureiro, L. Mattos, V. Munoz, H-S. Park, L. E. Rodriguez Cheu, R. Saltaren, A. A. G. Siqueira, V. Squeri, A. H. A. Stienen, N. Tsagarakis, H. Van der Kooij, B. Vanderborght, N. Vitiello, J. Zariffa, ... L. Zollo (Eds.), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 (pp. 221-226). [6913780] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). IEEE Computer Society. https://doi.org/10.1109/biorob.2014.6913780