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

Author

Narang, Gautam ; Weisheng Kong ; Pu Xu ; Narang, Arun ; Singh, Sushil ; Hashimoto, Koji ; Zecca, M. ; Takanishi, A.

Author_Institution

Dept. of Electr. & Electron. Eng., Bharati Vidyapeeth´s Coll. of Eng., New Delhi, India

fYear

2013

Firstpage

198

Lastpage

203

Abstract

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.

Keywords

biomedical measurement; force sensors; gait analysis; humanoid robots; legged locomotion; medical control systems; torque; 2-DoF waist; WABIAN-2R; bending toe motion; bipedal humanoid robot; bipedal humanoid walking; comparable size; comparable stature; double limb support percentage; force-torque sensor; heel-contact motion; human-like walking; inertial measurement units; natural walking gait; passive joint; pelvic rotation; pelvic tilt; single limb support percentage; stance percentage; stretched knee walking; swing; toe-off motion; Educational institutions; Foot; Joints; Legged locomotion; Magnetic sensors; Biped Walking; Humanoid Robots; Inertial Measurement Units; WABIAN-2R; Walking Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration (SII), 2013 IEEE/SICE International Symposium on

Conference_Location

Kobe

Type

conf

DOI

10.1109/SII.2013.6776729

Filename

6776729