Walking pattern generation of a biped walking vehicle using a dynamic human model

Yusuke Sugahara; Kenji Hashimoto; Masamiki Kawase; Terumasa Sawato; Akihiro Hayashi; Nobutsuna Endo; Akihiro Ohta; Chiaki Tanaka; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/IROS.2006.281695

Walking pattern generation of a biped walking vehicle using a dynamic human model

Yusuke Sugahara^*, Kenji Hashimoto, Masamiki Kawase, Terumasa Sawato, Akihiro Hayashi, Nobutsuna Endo, Akihiro Ohta, Chiaki Tanaka, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Citations (Scopus)

Abstract

This paper describes a passive dynamic model of passenger for a biped walking vehicle. The walking pattern generation that enables stable walking even if passenger sits naturally is also described. The model consists of lower-limbs part assumed to be fixed to the robot, and the upper body assumed to be 1 particle with 2 DOF mounted on the seat via 2 springs and dampers. The parameters are identified through waist shaking experiments by using a force-torque sensor under the seat. The walking pattern generation method involves the proposed model being built onto a strict model of the robot, and through iteration computation, a stable walking pattern is generated. The effectiveness of the proposed method is confirmed through experiments.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	2497-2502
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2006.281695
Publication status	Published - 2006
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 2006 Oct 9 → 2006 Oct 15

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/Territory	China
City	Beijing
Period	06/10/9 → 06/10/15

Keywords

Biped locomotor
Biped walking
Biped walking vehicle
Carrying a human
Modeling of a human body

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2006.281695

Cite this

Sugahara, Y., Hashimoto, K., Kawase, M., Sawato, T., Hayashi, A., Endo, N., Ohta, A., Tanaka, C., Lim, H. O., & Takanishi, A. (2006). Walking pattern generation of a biped walking vehicle using a dynamic human model. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 2497-2502). Article 4058763 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281695

Walking pattern generation of a biped walking vehicle using a dynamic human model. / Sugahara, Yusuke; Hashimoto, Kenji; Kawase, Masamiki et al.
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 2497-2502 4058763 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sugahara, Y, Hashimoto, K, Kawase, M, Sawato, T, Hayashi, A, Endo, N, Ohta, A, Tanaka, C, Lim, HO & Takanishi, A 2006, Walking pattern generation of a biped walking vehicle using a dynamic human model. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4058763, IEEE International Conference on Intelligent Robots and Systems, pp. 2497-2502, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 06/10/9. https://doi.org/10.1109/IROS.2006.281695

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title = "Walking pattern generation of a biped walking vehicle using a dynamic human model",

abstract = "This paper describes a passive dynamic model of passenger for a biped walking vehicle. The walking pattern generation that enables stable walking even if passenger sits naturally is also described. The model consists of lower-limbs part assumed to be fixed to the robot, and the upper body assumed to be 1 particle with 2 DOF mounted on the seat via 2 springs and dampers. The parameters are identified through waist shaking experiments by using a force-torque sensor under the seat. The walking pattern generation method involves the proposed model being built onto a strict model of the robot, and through iteration computation, a stable walking pattern is generated. The effectiveness of the proposed method is confirmed through experiments.",

keywords = "Biped locomotor, Biped walking, Biped walking vehicle, Carrying a human, Modeling of a human body",

author = "Yusuke Sugahara and Kenji Hashimoto and Masamiki Kawase and Terumasa Sawato and Akihiro Hayashi and Nobutsuna Endo and Akihiro Ohta and Chiaki Tanaka and Lim, {Hun Ok} and Atsuo Takanishi",

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AU - Sugahara, Yusuke

AU - Hashimoto, Kenji

AU - Kawase, Masamiki

AU - Sawato, Terumasa

AU - Hayashi, Akihiro

AU - Endo, Nobutsuna

AU - Ohta, Akihiro

AU - Tanaka, Chiaki

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

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N2 - This paper describes a passive dynamic model of passenger for a biped walking vehicle. The walking pattern generation that enables stable walking even if passenger sits naturally is also described. The model consists of lower-limbs part assumed to be fixed to the robot, and the upper body assumed to be 1 particle with 2 DOF mounted on the seat via 2 springs and dampers. The parameters are identified through waist shaking experiments by using a force-torque sensor under the seat. The walking pattern generation method involves the proposed model being built onto a strict model of the robot, and through iteration computation, a stable walking pattern is generated. The effectiveness of the proposed method is confirmed through experiments.

AB - This paper describes a passive dynamic model of passenger for a biped walking vehicle. The walking pattern generation that enables stable walking even if passenger sits naturally is also described. The model consists of lower-limbs part assumed to be fixed to the robot, and the upper body assumed to be 1 particle with 2 DOF mounted on the seat via 2 springs and dampers. The parameters are identified through waist shaking experiments by using a force-torque sensor under the seat. The walking pattern generation method involves the proposed model being built onto a strict model of the robot, and through iteration computation, a stable walking pattern is generated. The effectiveness of the proposed method is confirmed through experiments.

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KW - Carrying a human

KW - Modeling of a human body

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Walking pattern generation of a biped walking vehicle using a dynamic human model

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Conference

Keywords

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