DocumentCode
1892872
Title
Measurement and comparison of human and humanoid walking
Author
Kagami, Satoshi ; Mochimaru, Masaaki ; Ehara, Yoshihiro ; Miyata, Natsuki ; Nishiwaki, Koichi ; Kanade, Takeo ; Inoue, Hirochika
Volume
2
fYear
2003
fDate
16-20 July 2003
Firstpage
918
Abstract
This paper describes our research efforts aimed at understanding human being walking functions. Using motion capture system, force plates and distributed force sensors, both human being and humanoid H7 walk motion were captured. Experimental results are shown. Comparison in between human being with H7 walk in following points are discussed: 1) ZMP trajectories, 2) torso movement, 3) free leg trajectories, 4) joint angle usage, 5) joint torque usage. Furthermore, application to the humanoid robot is discussed.
Keywords
distributed sensors; force sensors; legged locomotion; motion control; motion measurement; distributed force sensors; force plates; free leg trajectories; human being walking functions; humanoid robot; humanoid walking; joint angle usage; joint torque usage; motion capture system; torso movement; Force sensors; Gravity; Humanoid robots; Humans; Legged locomotion; Motion analysis; Motion measurement; Motion planning; Robot sensing systems; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on
Print_ISBN
0-7803-7866-0
Type
conf
DOI
10.1109/CIRA.2003.1222302
Filename
1222302
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