Title :
A comparison between human walking and passive dynamic walking
Author :
Ni, Xiuhua ; Chen, Weishan ; Liu, Junkao
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
Root mean square error is presented as a quantitative measure for the similarity between human walking and passive dynamic walking. Normalized root mean square error of the hip angle and angular velocity between both walkers in a walking cycle is 6.9% and 12.2% on average, respectively. It shows a strong similarity between human walking and passive dynamic walking. A comparison is made between human walking and passive dynamic walking in four phases divided from a gait cycle. The reasons for resulting in the differences are studied.
Keywords :
humanoid robots; mean square error methods; mobile robots; angular velocity; hip angle; human walking; normalized root mean square error; passive dynamic walking; Angular velocity; Equations; Foot; Hip; Humans; Laboratories; Leg; Legged locomotion; Mean square error methods; Root mean square; comparison; human walking; passive dynamic walking;
Conference_Titel :
Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-2799-4
Electronic_ISBN :
978-1-4244-2800-7
DOI :
10.1109/ICIEA.2009.5138667
