Algorithm of pattern generation for mimicking disabled person's gait

Hideki Kondo, Akitoshi Morishima, Yu Ogura, Shimpei Momoki, Juri Shimizu, Hun Ok Lim, Atsuo Takanishi

研究成果: Conference contribution

11 引用 (Scopus)

抜粋

the goal of this study is to realize a biped humanoid robot as a human motion simulator; where a biped humanoid robot having an ability to mimic various human motions is used for testing welfare apparatuses. In this paper, a humanoid robot, WABIAN-2R, capable of not only human-like walking but also the emulation of disabled persons' walking is proposed. It has two 6-DOF legs, two 1-DOF feet, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, an algorithm for generating walking patterns for emulations of disabled persons' gaits for each case of disabilities based on the ZMP criterion is described. Moreover, the emulation experiment of the hemiplegic gait of a subject was conducted to demonstrate the effectiveness of the pattern generation method and mechanism of WABIAN-2R as a human motion simulator.

元の言語English
ホスト出版物のタイトルProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
ページ724-729
ページ数6
DOI
出版物ステータスPublished - 2008 12 1
イベント2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, United States
継続期間: 2008 10 192008 10 22

出版物シリーズ

名前Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

Conference

Conference2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
United States
Scottsdale, AZ
期間08/10/1908/10/22

    フィンガープリント

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering

これを引用

Kondo, H., Morishima, A., Ogura, Y., Momoki, S., Shimizu, J., Lim, H. O., & Takanishi, A. (2008). Algorithm of pattern generation for mimicking disabled person's gait. : Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 (pp. 724-729). [4762891] (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008). https://doi.org/10.1109/BIOROB.2008.4762891