Generation of Humanoid Walking Pattern Based on Human Walking Measurement

被引：0
|
作者：
Huang, Qiang [1 ]
Yu, Zhangguo [1 ]
Zhang, Weimin [1 ]
Duan, Xingguang [1 ]
Huang, Yuancan [1 ]
Li, Kejie [1 ]
机构：
[1] Beijing Inst Technol, Sch Aerosp Sci & Engn, Beijing 100081, Peoples R China
来源：
2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008) | 2008年
关键词：
Humanoid robot; ZMP; Walking pattern; Human Walking characteristics; Motion capture;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
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 for humanoid walking pattern generation 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 by using these characteristics, and then stable and harmonious walking patterns are generated. The effectiveness of the method was verified by experiment result on humanoid robot BHR-2.
引用
收藏
页码：99 / 104
页数：6
相关论文
共 50 条
  • [1] Measurement of human walking and generation of humanoid walking pattern
    Huang, Qiang
    Yang, Jie
    Yu, Zhangguo
    Xu, Wei
    Li, Jianxi
    Li, KeJie
    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, : 127 - 132
  • [2] Humanoid Walking Pattern Generation Based on the Ground Reaction Force Features of Human Walking
    Yu, Zhangguo
    Chen, Xuechao
    Huang, Qiang
    Wang, Huaping
    Zhang, Si
    Xu, Wei
    Li, Jing
    Ma, Gan
    Zhang, Weimin
    Fan, Ningjun
    PROCEEDING OF THE IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, 2012, : 753 - 758
  • [3] Measurement of Human Walking on Sagittal Plane for Exoskeleton Walking Pattern Generation
    Olcay, Tolga
    Ozkurt, Ahmet
    Toygar, M. Evren
    Akkan, Taner
    Senol, Yavuz
    2015 9TH INTERNATIONAL CONFERENCE ON ELECTRICAL AND ELECTRONICS ENGINEERING (ELECO), 2015, : 171 - 173
  • [4] A generic walking pattern generation method for humanoid robot walking on the slopes
    Guo, Fayong
    Mei, Tao
    Ceccarelli, Marco
    Zhao, Ziyi
    Li, Tao
    Zhao, Jianghai
    INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2016, 43 (03): : 317 - 327
  • [5] Vision-driven walking pattern generation for humanoid reactive walking
    Garcia, Mauricio
    Stasse, Olivier
    Hayet, Jean-Bernard
    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2014, : 216 - 221
  • [6] Measurement and comparison of human and humanoid walking
    Kagami, S
    Mochimaru, M
    Ehara, Y
    Miyata, N
    Nishiwaki, K
    Kanade, T
    Inoue, H
    2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, 2003, : 918 - 922
  • [7] Walking pattern generation for a humanoid robot with compliant joints
    Li, Zhibin
    Tsagarakis, Nikos G.
    Caldwell, Darwin G.
    AUTONOMOUS ROBOTS, 2013, 35 (01) : 1 - 14
  • [8] Motion planning for walking pattern generation of humanoid robots
    Harada, Kensuke
    Hattori, Shizuko
    Hirukawa, Hirohisa
    Morisawa, Mitsuharu
    Kajita, Shuuji
    Yoshida, Eiichi
    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, : 4233 - 4239
  • [9] GAIT GENERATION FOR THE HUMANOID NAO BASED ON HUMAN WALKING PARAMETERIZATION
    Lamarche, J. -Ch. Palyart
    Bruneau, O.
    Fontaine, J. -G.
    FIELD ROBOTICS, 2012, : 531 - 538
  • [10] Walking pattern generation for a humanoid robot with compliant joints
    Zhibin Li
    Nikos G. Tsagarakis
    Darwin G. Caldwell
    Autonomous Robots, 2013, 35 : 1 - 14
12345