Title :
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
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;
Conference_Titel :
System Integration (SII), 2013 IEEE/SICE International Symposium on
Conference_Location :
Kobe
DOI :
10.1109/SII.2013.6776729
