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

    18 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 publicationIEEE International Conference on Intelligent Robots and Systems
    Pages2064-2069
    Number of pages6
    DOIs
    Publication statusPublished - 2012
    Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve
    Duration: 2012 Oct 72012 Oct 12

    Other

    Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
    CityVilamoura, Algarve
    Period12/10/712/10/12

    Fingerprint

    Gait analysis
    Stabilization
    Robots
    Trajectories
    Experiments

    ASJC Scopus subject areas

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

    Cite this

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

    Realization of biped walking on soft ground with stabilization control based on gait analysis. / Hashimoto, Kenji; Kang, Hyun Jin; Nakamura, Masashi; Falotico, Egidio; Lim, Hun Ok; Takanishi, Atsuo; Laschi, Cecilia; Dario, Paolo; Berthoz, Alain.

    IEEE International Conference on Intelligent Robots and Systems. 2012. p. 2064-2069 6385684.

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

    Hashimoto, K, Kang, HJ, Nakamura, M, Falotico, E, Lim, HO, Takanishi, A, Laschi, C, Dario, P & Berthoz, A 2012, Realization of biped walking on soft ground with stabilization control based on gait analysis. in IEEE International Conference on Intelligent Robots and Systems., 6385684, pp. 2064-2069, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, 12/10/7. https://doi.org/10.1109/IROS.2012.6385684
    Hashimoto K, Kang HJ, Nakamura M, Falotico E, Lim HO, Takanishi A et al. Realization of biped walking on soft ground with stabilization control based on gait analysis. In IEEE International Conference on Intelligent Robots and Systems. 2012. p. 2064-2069. 6385684 https://doi.org/10.1109/IROS.2012.6385684
    Hashimoto, Kenji ; Kang, Hyun Jin ; Nakamura, Masashi ; Falotico, Egidio ; Lim, Hun Ok ; Takanishi, Atsuo ; Laschi, Cecilia ; Dario, Paolo ; Berthoz, Alain. / Realization of biped walking on soft ground with stabilization control based on gait analysis. IEEE International Conference on Intelligent Robots and Systems. 2012. pp. 2064-2069
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