@article{31837b402c72475a82072a19831fa3d5,
title = "Walking stabilization based on gait analysis for biped humanoid robot",
abstract = "This study describes a biped walking stabilization based on gait analysis for a humanoid robot. So far, we have developed a humanoid robot as a human motion simulator which can quantitatively evaluate welfare and rehabilitation instruments instead of human subjects. However, the walking motion of the robot looked like humans in our past researches, but a walking stabilization control was not based on gait analysis. To use a humanoid robot as a human motion simulator, not only mechanisms but also a stabilizer should be designed based on human beings. Of course, there are many studies on gait analysis in the field of neuroscience, but most of them are not modeled enough to be implemented on humanoid robots. Therefore, first, we conducted gait analysis in this study, and we obtained following two findings: (i) a foot-landing point exists on the line joining the stance leg and the projected point of center of mass on the ground, and (ii) the distance between steps is modified to keep mechanical energy at the landing within a certain value. A walking stabilization control is designed based on the gait analysis. Verification of the proposed control is conducted through experiments with a human-sized humanoid robot WABIAN-2R.",
keywords = "biped robot, gait analysis, humanoid, walking stabilization",
author = "Kenji Hashimoto and Yuki Takezaki and Lim, {Hun Ok} and Atsuo Takanishi",
note = "Funding Information: Kenji Hashimoto is an assistant professor of the Graduate School of Creative Science and Engineering, Waseda University, Japan. He received the BE and ME degrees in mechanical engineering from Waseda University, Japan, in 2004 and 2006, respectively. He received the PhD degree in Integrative Bioscience and Biomedical Engineering from Waseda University, Japan, in 2009. While a PhD candidate, he was funded by the Japan Society for the Promotion Science as a Research Fellow. His research interests include walking systems, biped robots, and humanoid robots. He is a member of the IEEE, Robotics Society of Japan (RSJ), Japanese Society of Mechanical Engineers (JSME) and Society of Instrument and Control Engineers (SICE). He received the IEEE Robotics and Automation Society Japan Chapter Young Award in 2006, and the JSME Fellow Award for Outstanding Young Engineers in 2008. Funding Information: This study was conducted as part of the Research Institute for Science and Engineering, Waseda University, and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also supported in part by RoboSoM project from the European FP7 program (Grant agreement No. 248366), MEXT/JSPS KAKENHI Grant Number (24360099), Global COE Program {\textquoteleft}Global Robot Academia{\textquoteright}, MEXT, Japan, SolidWorks Japan K.K., and DYDEN Corporation, whom we thank for their financial and technical support. The high-performance physical modeling and simulation software MapleSim used in our research was provided by Cybernet Systems Co., Ltd. (Vendor: Waterloo Maple Inc.).",
year = "2013",
month = may,
day = "1",
doi = "10.1080/01691864.2013.777015",
language = "English",
volume = "27",
pages = "541--551",
journal = "Advanced Robotics",
issn = "0169-1864",
publisher = "Taylor and Francis Ltd.",
number = "7",
}