Title :
Sensor-Based Biped Walking: A Sagittal Plane Research
Author :
Luo Xiang ; Jianzhong, Zhang
Author_Institution :
Mech. Eng. Coll., Southeast Univ., Nanjing
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;
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
DOI :
10.1109/MMVIP.2008.4749592