Heel-contact toe-off walking model based on the linear inverted pendulum

Yukitoshi Minami, Przemysław Kryczka, Kenji Hashimoto, Hun Ok Lim, Atsuo Takanishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

We propose a new heel-contact toe-off walking model based on the Linear Inverted Pendulum (LIP) model, which due to the linearity and the ease of manipulation of the equations, could be considered to be advantageous for a future online implementation for the generation of walking patterns. This new model is based on the so called functional rockers of the foot (heel, ankle and forefoot rockers), each of which are modeled as an inverted pendulum, changing the ground contact point position of the inverted pendulums for each rocker. We focus on the motion of the Center of Mass (CoM) in the sagittal plane, as it is the plane on which the rockers take place, but also generate the motions on the frontal plane. The model proved to work for constant velocity, accelerating and decelerating gaits, and the effects of the change of pivot point during heel-contact toe-off could be corroborated in the Zero Moment Point (ZMP) graphs. The implementation of this model could improve the human likeness of the motions, as well as the stability of the locomotion.

本文言語English
ホスト出版物のタイトル"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
編集者Raffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo
出版社IEEE Computer Society
ページ221-226
ページ数6
ISBN(電子版)9781479931262
DOI
出版ステータスPublished - 2014 9 30
イベント5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil
継続期間: 2014 8 122014 8 15

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

Conference5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
CountryBrazil
CitySao Paulo
Period14/8/1214/8/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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