Realization of biped walking on soft ground with stabilization control based on gait analysis

Kenji Hashimoto, Hyun Jin Kang, Masashi Nakamura, Egidio Falotico, Hun Ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario, Alain Berthoz

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

19 Citations (Scopus)

Abstract

This paper describes a walking stabilization control on a soft ground based on gait analysis for a humanoid robot. There are many researches on gait analysis on a hard ground, but few scientists analyze the walking ability of human beings on a soft ground. Therefore, we conducted anthropometric measurement using a motion capture system on a soft ground. By analyzing experimental data, we obtained two findings. The first finding is that although there are no significant differences in step width and step length, step height tends to increase to avoid the collision between the feet and a soft ground. The second finding is that there are no significant differences in the lateral CoM trajectories but the vertical CoM amplitude increases when walking on a soft ground. Based on these findings, we developed a walking stabilization control to stabilize the CoM motion in the lateral direction on a soft ground. Verification of the proposed control is conducted through experiments with a human-sized humanoid robot WABIAN-2R. The experimental videos are supplemented.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages2064-2069
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Hashimoto, K., Kang, H. J., Nakamura, M., Falotico, E., Lim, H. O., Takanishi, A., Laschi, C., Dario, P., & Berthoz, A. (2012). Realization of biped walking on soft ground with stabilization control based on gait analysis. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 2064-2069). [6385684] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385684