Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors

Gautam Narang, Weisheng Kong, Pu Xu, Arjun Narang, Soumya Singh, Kenji Hashimoto, Massimiliano Zecca, Atsuo Takanishi

    研究成果: Conference contribution

    1 引用 (Scopus)

    抄録

    WABIAN-2R is a bipedal humanoid robot which is capable of stretched knee walking with heel-contact and toe-off motions due to the presence of a 2-DoF waist and a passive joint for bending toe motion, and can thus mimic human-like walking. This paper aims to determine the similarity between the walking gait of WABIAN-2R to the natural walking gait of a human of comparable size and stature, on the factors (i) pelvic tilt, (ii) pelvic rotation, (iii) swing and stance percentage, and (iv) double limb support and single limb support percentage using inertial measurement units and force-torque sensors.

    元の言語English
    ホスト出版物のタイトル2013 IEEE/SICE International Symposium on System Integration, SII 2013
    出版者IEEE Computer Society
    ページ198-203
    ページ数6
    ISBN(印刷物)9781479926268
    出版物ステータスPublished - 2013
    イベント2013 6th IEEE/SICE International Symposium on System Integration, SII 2013 - Kobe
    継続期間: 2013 12 152013 12 17

    Other

    Other2013 6th IEEE/SICE International Symposium on System Integration, SII 2013
    Kobe
    期間13/12/1513/12/17

    Fingerprint

    Units of measurement
    Torque
    Robots
    Sensors

    ASJC Scopus subject areas

    • Control and Systems Engineering

    これを引用

    Narang, G., Kong, W., Xu, P., Narang, A., Singh, S., Hashimoto, K., ... Takanishi, A. (2013). Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors. : 2013 IEEE/SICE International Symposium on System Integration, SII 2013 (pp. 198-203). [6776729] IEEE Computer Society.

    Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors. / Narang, Gautam; Kong, Weisheng; Xu, Pu; Narang, Arjun; Singh, Soumya; Hashimoto, Kenji; Zecca, Massimiliano; Takanishi, Atsuo.

    2013 IEEE/SICE International Symposium on System Integration, SII 2013. IEEE Computer Society, 2013. p. 198-203 6776729.

    研究成果: Conference contribution

    Narang, G, Kong, W, Xu, P, Narang, A, Singh, S, Hashimoto, K, Zecca, M & Takanishi, A 2013, Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors. : 2013 IEEE/SICE International Symposium on System Integration, SII 2013., 6776729, IEEE Computer Society, pp. 198-203, 2013 6th IEEE/SICE International Symposium on System Integration, SII 2013, Kobe, 13/12/15.
    Narang G, Kong W, Xu P, Narang A, Singh S, Hashimoto K その他. Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors. : 2013 IEEE/SICE International Symposium on System Integration, SII 2013. IEEE Computer Society. 2013. p. 198-203. 6776729
    Narang, Gautam ; Kong, Weisheng ; Xu, Pu ; Narang, Arjun ; Singh, Soumya ; Hashimoto, Kenji ; Zecca, Massimiliano ; Takanishi, Atsuo. / Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors. 2013 IEEE/SICE International Symposium on System Integration, SII 2013. IEEE Computer Society, 2013. pp. 198-203
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    AU - Hashimoto, Kenji

    AU - Zecca, Massimiliano

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