Walking pattern generation of a biped walking vehicle using a dynamic human model

Yusuke Sugahara, Kenji Hashimoto, Masamiki Kawase, Terumasa Sawato, Akihiro Hayashi, Nobutsuna Endo, Akihiro Ohta, Chiaki Tanaka, Hun Ok Lim, Atsuo Takanishi

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

    6 Citations (Scopus)

    Abstract

    This paper describes a passive dynamic model of passenger for a biped walking vehicle. The walking pattern generation that enables stable walking even if passenger sits naturally is also described. The model consists of lower-limbs part assumed to be fixed to the robot, and the upper body assumed to be 1 particle with 2 DOF mounted on the seat via 2 springs and dampers. The parameters are identified through waist shaking experiments by using a force-torque sensor under the seat. The walking pattern generation method involves the proposed model being built onto a strict model of the robot, and through iteration computation, a stable walking pattern is generated. The effectiveness of the proposed method is confirmed through experiments.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Pages2497-2502
    Number of pages6
    DOIs
    Publication statusPublished - 2006
    Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing
    Duration: 2006 Oct 92006 Oct 15

    Other

    Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    CityBeijing
    Period06/10/906/10/15

    Fingerprint

    Seats
    Robots
    Dynamic models
    Torque
    Experiments
    Sensors

    Keywords

    • Biped locomotor
    • Biped walking
    • Biped walking vehicle
    • Carrying a human
    • Modeling of a human body

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Sugahara, Y., Hashimoto, K., Kawase, M., Sawato, T., Hayashi, A., Endo, N., ... Takanishi, A. (2006). Walking pattern generation of a biped walking vehicle using a dynamic human model. In IEEE International Conference on Intelligent Robots and Systems (pp. 2497-2502). [4058763] https://doi.org/10.1109/IROS.2006.281695

    Walking pattern generation of a biped walking vehicle using a dynamic human model. / Sugahara, Yusuke; Hashimoto, Kenji; Kawase, Masamiki; Sawato, Terumasa; Hayashi, Akihiro; Endo, Nobutsuna; Ohta, Akihiro; Tanaka, Chiaki; Lim, Hun Ok; Takanishi, Atsuo.

    IEEE International Conference on Intelligent Robots and Systems. 2006. p. 2497-2502 4058763.

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

    Sugahara, Y, Hashimoto, K, Kawase, M, Sawato, T, Hayashi, A, Endo, N, Ohta, A, Tanaka, C, Lim, HO & Takanishi, A 2006, Walking pattern generation of a biped walking vehicle using a dynamic human model. in IEEE International Conference on Intelligent Robots and Systems., 4058763, pp. 2497-2502, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, 06/10/9. https://doi.org/10.1109/IROS.2006.281695
    Sugahara Y, Hashimoto K, Kawase M, Sawato T, Hayashi A, Endo N et al. Walking pattern generation of a biped walking vehicle using a dynamic human model. In IEEE International Conference on Intelligent Robots and Systems. 2006. p. 2497-2502. 4058763 https://doi.org/10.1109/IROS.2006.281695
    Sugahara, Yusuke ; Hashimoto, Kenji ; Kawase, Masamiki ; Sawato, Terumasa ; Hayashi, Akihiro ; Endo, Nobutsuna ; Ohta, Akihiro ; Tanaka, Chiaki ; Lim, Hun Ok ; Takanishi, Atsuo. / Walking pattern generation of a biped walking vehicle using a dynamic human model. IEEE International Conference on Intelligent Robots and Systems. 2006. pp. 2497-2502
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    abstract = "This paper describes a passive dynamic model of passenger for a biped walking vehicle. The walking pattern generation that enables stable walking even if passenger sits naturally is also described. The model consists of lower-limbs part assumed to be fixed to the robot, and the upper body assumed to be 1 particle with 2 DOF mounted on the seat via 2 springs and dampers. The parameters are identified through waist shaking experiments by using a force-torque sensor under the seat. The walking pattern generation method involves the proposed model being built onto a strict model of the robot, and through iteration computation, a stable walking pattern is generated. The effectiveness of the proposed method is confirmed through experiments.",
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    AU - Hayashi, Akihiro

    AU - Endo, Nobutsuna

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