TY - GEN
T1 - Algorithm of pattern generation for mimicking disabled person's gait
AU - Kondo, Hideki
AU - Morishima, Akitoshi
AU - Ogura, Yu
AU - Momoki, Shimpei
AU - Shimizu, Juri
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2008/12/1
Y1 - 2008/12/1
N2 - the goal of this study is to realize a biped humanoid robot as a human motion simulator; where a biped humanoid robot having an ability to mimic various human motions is used for testing welfare apparatuses. In this paper, a humanoid robot, WABIAN-2R, capable of not only human-like walking but also the emulation of disabled persons' walking is proposed. It has two 6-DOF legs, two 1-DOF feet, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, an algorithm for generating walking patterns for emulations of disabled persons' gaits for each case of disabilities based on the ZMP criterion is described. Moreover, the emulation experiment of the hemiplegic gait of a subject was conducted to demonstrate the effectiveness of the pattern generation method and mechanism of WABIAN-2R as a human motion simulator.
AB - the goal of this study is to realize a biped humanoid robot as a human motion simulator; where a biped humanoid robot having an ability to mimic various human motions is used for testing welfare apparatuses. In this paper, a humanoid robot, WABIAN-2R, capable of not only human-like walking but also the emulation of disabled persons' walking is proposed. It has two 6-DOF legs, two 1-DOF feet, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, an algorithm for generating walking patterns for emulations of disabled persons' gaits for each case of disabilities based on the ZMP criterion is described. Moreover, the emulation experiment of the hemiplegic gait of a subject was conducted to demonstrate the effectiveness of the pattern generation method and mechanism of WABIAN-2R as a human motion simulator.
UR - http://www.scopus.com/inward/record.url?scp=63049102330&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=63049102330&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2008.4762891
DO - 10.1109/BIOROB.2008.4762891
M3 - Conference contribution
AN - SCOPUS:63049102330
SN - 9781424428830
T3 - Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
SP - 724
EP - 729
BT - Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
T2 - 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Y2 - 19 October 2008 through 22 October 2008
ER -