TY - GEN
T1 - Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors
AU - Narang, Gautam
AU - Kong, Weisheng
AU - Xu, Pu
AU - Narang, Arjun
AU - Singh, Soumya
AU - Hashimoto, Kenji
AU - Zecca, Massimiliano
AU - Takanishi, Atsuo
PY - 2013
Y1 - 2013
N2 - WABIAN-2R is a bipedal humanoid robot which is capable of stretched knee walking with heel-contact and toe-off motions due to the presence of a 2-DoF waist and a passive joint for bending toe motion, and can thus mimic human-like walking. This paper aims to determine the similarity between the walking gait of WABIAN-2R to the natural walking gait of a human of comparable size and stature, on the factors (i) pelvic tilt, (ii) pelvic rotation, (iii) swing and stance percentage, and (iv) double limb support and single limb support percentage using inertial measurement units and force-torque sensors.
AB - WABIAN-2R is a bipedal humanoid robot which is capable of stretched knee walking with heel-contact and toe-off motions due to the presence of a 2-DoF waist and a passive joint for bending toe motion, and can thus mimic human-like walking. This paper aims to determine the similarity between the walking gait of WABIAN-2R to the natural walking gait of a human of comparable size and stature, on the factors (i) pelvic tilt, (ii) pelvic rotation, (iii) swing and stance percentage, and (iv) double limb support and single limb support percentage using inertial measurement units and force-torque sensors.
KW - Biped walking
KW - Humanoid robots
KW - Inertial measurement units
KW - WABIAN-2R
KW - Walking trajectory
UR - http://www.scopus.com/inward/record.url?scp=84902477562&partnerID=8YFLogxK
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U2 - 10.1109/sii.2013.6776729
DO - 10.1109/sii.2013.6776729
M3 - Conference contribution
AN - SCOPUS:84902477562
SN - 9781479926268
T3 - 2013 IEEE/SICE International Symposium on System Integration, SII 2013
SP - 198
EP - 203
BT - 2013 IEEE/SICE International Symposium on System Integration, SII 2013
PB - IEEE Computer Society
T2 - 2013 6th IEEE/SICE International Symposium on System Integration, SII 2013
Y2 - 15 December 2013 through 17 December 2013
ER -