Measurement of human walking and generation of humanoid walking pattern

被引：5
|
作者：
Huang, Qiang [1 ]
Yang, Jie [1 ]
Yu, Zhangguo [1 ]
Xu, Wei [1 ]
Li, Jianxi [1 ]
Li, KeJie [1 ]
机构：
[1] Beijing Inst Technol, Dept Mechatron Engn, Beijing 100081, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 | 2007年
关键词：
humanoid robot; ZMP; walking pattern; human walking characteristics; motion capture;
D O I：
10.1109/ROBIO.2007.4522147
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Walking pattern generation has been a crucial issue for humanoid robot. To generate more natural walking patterns, and determine parameters more reasonably, this paper presents a method of walking pattern generation for humanoid based on human walking characteristics. The characteristics of human walking parameters were obtained by capturing and analyzing human walking data. Walking pattern parameters are determined using these characteristics, and then stable and harmonious walking patterns are generated. The effectiveness of the method was improved by experiment result on humanoid robot BHR-2.
引用
收藏
页码：127 / 132
页数：6
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