DocumentCode :
2363782
Title :
Sensor-Based Biped Walking: A Sagittal Plane Research
Author :
Luo Xiang ; Jianzhong, Zhang
Author_Institution :
Mech. Eng. Coll., Southeast Univ., Nanjing
fYear :
2008
fDate :
2-4 Dec. 2008
Firstpage :
555
Lastpage :
560
Abstract :
This paper aims to explore the principles of biomimetic biped walking in the sagittal plane. Firstly, a new walking pattern denoted as two-point-foot walking pattern is proposed according to the structure of the foot of human being. Secondly, the energy cycle of the new walking pattern is investigated. Based on the features of the energy cycle, a multi-scale predict algorithm is developed to estimate the state of walking. The algorithm can be used in the control of the energy input to ensure the continuity and stability of walking. Then, a sensor based control structure is developed to implement the control of walking-start, acceleration and steady walking. Finally, a 2D simulation system with an 8 DOF planar biped robot is developed in this paper. The result of simulation exhibits a very naturally walking pattern close to that of human being´s slow walking.
Keywords :
acceleration control; legged locomotion; motion control; stability; 2D simulation system; 8 DOF planar biped robot; biomimetic biped walking; multiscale predict algorithm; sagittal plane; sensor-based biped walking; two-point-foot walking pattern; Acceleration; Biomimetics; Foot; Gravity; Humans; Legged locomotion; Machine vision; Mechatronics; Robot control; Robot sensing systems; biped robot; dynamic simulation; sagittal plane; sensor based control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Machine Vision in Practice, 2008. M2VIP 2008. 15th International Conference on
Conference_Location :
Auckland
Print_ISBN :
978-1-4244-3779-5
Electronic_ISBN :
978-0-473-13532-4
Type :
conf
DOI :
10.1109/MMVIP.2008.4749592
Filename :
4749592
Link To Document :
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