Biped walking stabilization on soft ground based on gait analysis

Hyun Jin Kang*, Kenji Hashimoto, Kosuke Nishikawa, Egidio Falotico, Hun Ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario, Alain Berthoz

*この研究の対応する著者

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

This paper describes a walking stabilization control on a soft ground based on gait analysis for a biped humanoid robot. There are many studies on gait analysis on a hard ground, but few physiologists analyze the walking ability of human beings on a soft ground. Therefore, we conducted anthropometric measurement using VICON motion capture system on a soft ground. By analyzing experimental results, we obtained three findings. The first finding is that step height tends to increase to avoid tripping on a soft ground but there are no significant differences in step length and step width. The second finding is that although the CoM amplitude increases in the vertical direction on a soft ground, there are no significant differences in the CoM trajectories in the lateral direction. The last finding is that the head is stabilized during walking not only on a hard ground but also on a soft ground. Based on these findings, we developed a novel 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.

本文言語English
ホスト出版物のタイトル2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
ページ669-674
ページ数6
DOI
出版ステータスPublished - 2012
外部発表はい
イベント2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
継続期間: 2012 6月 242012 6月 27

出版物シリーズ

名前Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN(印刷版)2155-1774

Conference

Conference2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
国/地域Italy
CityRome
Period12/6/2412/6/27

ASJC Scopus subject areas

  • 人工知能
  • 生体医工学
  • 機械工学

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