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 publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages2497-2502
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

Keywords

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

ASJC Scopus subject areas

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

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  • Cite this

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