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 被引用数 (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.

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

出版物シリーズ

名前2013 IEEE/SICE International Symposium on System Integration, SII 2013

Conference

Conference2013 6th IEEE/SICE International Symposium on System Integration, SII 2013
国/地域Japan
CityKobe
Period13/12/1513/12/17

ASJC Scopus subject areas

  • 制御およびシステム工学

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