Measurement and comparison of humanoid H7 walking with human being

被引：24
|
作者：
Kagami, S
Mochimaru, M
Ehara, Y
Miyata, N
Nishiwaki, K
Kanade, T
Inoue, H
机构：
[1] Natl Inst Adv Sci & Technol, Digital Human Lab, Kouto Ku, Tokyo 1350064, Japan
[2] Teikyo Univ, Fac Med Technol, Hachioji, Tokyo 1920395, Japan
[3] Tokai Univ, Sch Informat Sci & Technol, Bunkyo Ku, Tokyo 1138656, Japan
[4] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2004年 / 48卷 / 04期
关键词：
human being; humanoid H7; walking functions;
D O I：
10.1016/j.robot.2004.07.006
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes our research efforts aimed at understanding human being walking functions. Using a motion-capture system, force plates and distributed force sensors, walk motion of both human being and humanoid H7 was captured. Experimental results are shown. Comparisons in between human being and H7 walk made using the following characteristics: (1) ZMP trajectories; (2) torso movement; (3) free leg trajectories; (4) joint angle usage; (5) joint torque usage. Furthermore, implications of the comparisons to the humanoid robot are discussed. (C) 2004 Elsevier B.V. All rights reserved.
引用
收藏
页码：177 / 187
页数：11
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