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

研究成果: Conference contribution

7 引用 (Scopus)

抜粋

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.

元の言語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
出版物ステータスPublished - 2012 10 18
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 242012 6 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(印刷物)2155-1774

Conference

Conference2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Italy
Rome
期間12/6/2412/6/27

    フィンガープリント

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

これを引用

Kang, H. J., Hashimoto, K., Nishikawa, K., Falotico, E., Lim, H. O., Takanishi, A., Laschi, C., Dario, P., & Berthoz, A. (2012). Biped walking stabilization on soft ground based on gait analysis. : 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 (pp. 669-674). [6290870] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). https://doi.org/10.1109/BioRob.2012.6290870