Computer Simulations of a Humanoid Robot Capable of Walking Like Fashion Models

Author

Or, Jimmy

Author_Institution

Inst. of Human Performance, Univ. of Hong Kong, Hong Kong, China

Volume

42

Issue

2

fYear

2012

fDate

3/1/2012 12:00:00 AM

Firstpage

241

Lastpage

248

Abstract

Conventional humanoid robots are unable to exhibit the kind of rolling movements at the waist and the body trunk stereotypically associated with the walking style of adult females. For example, a conventional robot cannot perform the walk known as “the catwalk” commonly seen in fashion shows. We developed a control method that allows a realistically simulated adult-size humanoid robot to exhibit a stable dynamic walk with features (such as catwalk, rolling trunk and waist motions, knee stretch walking, etc.) commonly exhibited by fashion models. Our method has the potential to be used in feminized robots in the fashion, advertisement and entertainment industries.

Keywords

control engineering computing; humanoid robots; legged locomotion; robot dynamics; stability; adult-size humanoid robots; biped locomotion; catwalk; computer simulations; knee stretch walking; rolling movements; rolling trunk; stable dynamic walk; waist motions; walking like fashion models; Joints; Knee; Leg; Legged locomotion; Mathematical model; Trajectory; 3-D computer simulations; Bendable body trunk; biped locomotion; catwalk; fashion models; zero-moment point (ZMP);

fLanguage

English

Journal_Title

Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on

Publisher

ieee

ISSN

1094-6977

Type

jour

DOI

10.1109/TSMCC.2011.2115238

Filename

5767566