Walking stabilization based on gait analysis for biped humanoid robot

Kenji Hashimoto*, Yuki Takezaki, Hun Ok Lim, Atsuo Takanishi


研究成果: Article査読

14 被引用数 (Scopus)


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.

ジャーナルAdvanced Robotics
出版ステータスPublished - 2013 5月 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用


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