Paper Info
Title
Gait analysis of a human walker wearing robot feet as shoes
Abstract
This work takes part in the project of development of an anthropomorphic biped robot, Bip. The technological construction has been completed and the robot has performed some slow static walks. The next stage is the implementation of fast and dynamic walking gaits, in other words anthropomorphic gaits. The robot feet have been designed with a three-axes force-moment sensor for reconstructing the center of pressure-zero moment point. To study and test these feet, the idea is simple: the experimental setup consists of a human walker wearing the Bip feet as shoes, a force-plate and a motion analysis system. The purpose is double. The first one is aimed at comparing the contact pressure forces reconstructed with the Bip sensor feet, with the data recorded by the force-plate. The second one consists in determining the influence of (relatively) heavy and rigid metallic shoes on the gait of a human walker. If these feet were proving to be a handicap for efficient and elegant human walking gaits, how could it be any different for the robot Bip? Fortunately the analysis shows that they do not really handicap the walker.
Year
DOI
Venue
2001
10.1109/ROBOT.2001.932963
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference
Keywords
Field
DocType
gait analysis,legged locomotion,Bip sensor feet,anthropomorphic biped robot,contact pressure forces,fast dynamic walking,force-plate,gait analysis,human walker,metallic shoes,motion analysis system,pressure center,robot feet,three-axes force-moment sensor,zero moment point
Contact pressure,Computer vision,Gait,Simulation,Gait analysis,Artificial intelligence,Engineering,Motion analysis,Robot
Conference
Volume
Issue
ISSN
3
1
1050-4729
ISBN
Citations 
PageRank 
0-7803-6576-3
10
2.11
References 
Authors
3
2
Name
Order
Citations
PageRank
Philippe Sardain1102.11
Guy Bessonnet223221.43