TY - GEN
T1 - Walking pattern generation of a biped walking vehicle using a dynamic human model
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
PY - 2006
Y1 - 2006
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.
KW - Biped locomotor
KW - Biped walking
KW - Biped walking vehicle
KW - Carrying a human
KW - Modeling of a human body
UR - http://www.scopus.com/inward/record.url?scp=34250641835&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250641835&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.281695
DO - 10.1109/IROS.2006.281695
M3 - Conference contribution
AN - SCOPUS:34250641835
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2497
EP - 2502
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -