TY - GEN
T1 - Realization of biped walking on soft ground with stabilization control based on gait analysis
AU - Hashimoto, Kenji
AU - Kang, Hyun Jin
AU - Nakamura, Masashi
AU - Falotico, Egidio
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
AU - Laschi, Cecilia
AU - Dario, Paolo
AU - Berthoz, Alain
PY - 2012/12/1
Y1 - 2012/12/1
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS.2012.6385684
DO - 10.1109/IROS.2012.6385684
M3 - Conference contribution
AN - SCOPUS:84872279067
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2064
EP - 2069
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -