Title :
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
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;
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
DOI :
10.1109/ROBIO.2007.4522147
