Measurement of human walking and generation of humanoid walking pattern

Author

Huang, Qiang ; Yang, Jie ; Yu, Zhangguo ; Xu, Wei ; Li, Jianxi ; Li, Kejie

Author_Institution

Dept. of Mechatron. Eng., Beijing Inst. of Technol., Beijing

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

127

Lastpage

132

Abstract

Walking pattern generation has been a crucial issue for humanoid robot. To generate more natural walking patterns, and determine parameters more reasonably, this paper presents a method of walking pattern generation for humanoid based on human walking characteristics. The characteristics of human walking parameters were obtained by capturing and analyzing human walking data. Walking pattern parameters are determined using these characteristics, and then stable and harmonious walking patterns are generated. The effectiveness of the method was improved by experiment result on humanoid robot BHR-2.

Keywords

humanoid robots; legged locomotion; BHR-2; harmonious walking patterns; human walking; humanoid robot; humanoid walking pattern; natural walking patterns; walking pattern generation; Anthropometry; Biomimetics; Character generation; Data analysis; Hip; Humanoid robots; Humans; Legged locomotion; Motion measurement; Stability; Human Walking characteristics; Humanoid robot; Motion capture; Walking pattern; ZMP;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522147

Filename

4522147