Paper Info
Title
Realization of biped walking on soft ground with stabilization control based on gait analysis
Abstract
This paper describes a walking stabilization control on a soft ground based on gait analysis for a humanoid robot. There are many researches on gait analysis on a hard ground, but few scientists analyze the walking ability of human beings on a soft ground. Therefore, we conducted anthropometric measurement using a motion capture system on a soft ground. By analyzing experimental data, we obtained two findings. The first finding is that although there are no significant differences in step width and step length, step height tends to increase to avoid the collision between the feet and a soft ground. The second finding is that there are no significant differences in the lateral CoM trajectories but the vertical CoM amplitude increases when walking on a soft ground. Based on these findings, we developed a walking stabilization control to stabilize the CoM motion in the lateral direction on a soft ground. Verification of the proposed control is conducted through experiments with a human-sized humanoid robot WABIAN-2R. The experimental videos are supplemented.
Year
DOI
Venue
2012
10.1109/IROS.2012.6385684
Intelligent Robots and Systems
Keywords
Field
DocType
collision avoidance,gait analysis,humanoid robots,legged locomotion,motion control,stability,trajectory control,CoM motion,anthropometric measurement,biped walking,collision avoidance,gait analysis,human-sized humanoid robot WABIAN-2R,lateral CoM trajectory,motion capture system,soft ground,step height,step length,step width,vertical CoM amplitude,walking ability,walking stabilization control
Motion capture,Motion control,Simulation,Computer science,Control theory,Effect of gait parameters on energetic cost,Control engineering,Collision,Gait analysis,Trajectory control,Humanoid robot
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-4673-1737-5
5
PageRank 
References 
Authors
0.46
11
9
Name
Order
Citations
PageRank
Kenji Hashimoto112016.60
Hyunjin Kang2473.43
Masashi Nakamura350.46
Egidio Falotico48518.05
Hun-ok Lim549874.94
Atsuo Takanishi61592319.81
Cecilia Laschi768199.92
Paolo Dario82017339.00
Alain Berthoz927433.20