Humanoid Walking Pattern Generation Based on the Ground Reaction Force Features of Human Walking

被引：0

作者：

Yu, Zhangguo ^{[1
]}

Chen, Xuechao ^{[1
]}

Huang, Qiang ^{[1
]}

Wang, Huaping ^{[1
]}

Zhang, Si ^{[1
]}

Xu, Wei ^{[1
]}

Li, Jing ^{[1
]}

Ma, Gan ^{[1
]}

Zhang, Weimin ^{[1
]}

Fan, Ningjun ^{[1
]}

机构：

[1] Beijing Inst Technol, Intelligent Robot Inst, Sch Mechatron Engn, Beijing 100081, Peoples R China

来源：

PROCEEDING OF THE IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION | 2012年

关键词：

SYSTEM;

D O I：

暂无

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 presents a humanoid pattern generation method based on the ground reaction force features of human walking. A human can walk with high power efficiency and compliant landing, which have a close relationship to the ground reaction force. By investigating the ground reaction force of human walking, some features of the ground reaction force are obtained. According to these features, a novel method to design humanoid ZMP trajectories is proposed to mimic human ZMP trajectories. This method can vary ZMP trajectories easily to generate waking patterns with less fluctuations of walking velocity. In addition, a humanoid robot model is presented for alternating support leg smoothly to avoid the contact impact. This model covers the dynamics of both single support phase and double support phase. Finally, the reliability of the proposed methods is verified by dynamic simulation and walk experiment on a real humanoid robot.

引用

页码：753 / 758

页数：6

共 50 条

[1] Generation of Humanoid Walking Pattern Based on Human Walking Measurement
Huang, Qiang
Yu, Zhangguo
Zhang, Weimin
Duan, Xingguang
Huang, Yuancan
Li, Kejie
[J]. 2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008), 2008, : 99 - 104
[2] Measurement of human walking and generation of humanoid walking pattern
Huang, Qiang
Yang, Jie
Yu, Zhangguo
Xu, Wei
Li, Jianxi
Li, KeJie
[J]. 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, : 127 - 132
[3] Vision-driven walking pattern generation for humanoid reactive walking
Garcia, Mauricio
Stasse, Olivier
Hayet, Jean-Bernard
[J]. 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2014, : 216 - 221
[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
[J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2016, 43 (03): : 317 - 327
[5] A Trajectory Generation Method for Humanoid Robots Walking: Optimal Force Pattern Method
Guo, Zuhua
Zeng, Yi
Meng, Cai
[J]. 2019 WORLD ROBOT CONFERENCE SYMPOSIUM ON ADVANCED ROBOTICS AND AUTOMATION (WRC SARA 2019), 2019, : 103 - 109
[6] Walking pattern generation for a humanoid robot with compliant joints
Li, Zhibin
Tsagarakis, Nikos G.
Caldwell, Darwin G.
[J]. AUTONOMOUS ROBOTS, 2013, 35 (01) : 1 - 14
[7] Motion planning for walking pattern generation of humanoid robots
Harada, Kensuke
Hattori, Shizuko
Hirukawa, Hirohisa
Morisawa, Mitsuharu
Kajita, Shuuji
Yoshida, Eiichi
[J]. 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, : 4233 - 4239
[8] GAIT GENERATION FOR THE HUMANOID NAO BASED ON HUMAN WALKING PARAMETERIZATION
Lamarche, J. -Ch. Palyart
Bruneau, O.
Fontaine, J. -G.
[J]. FIELD ROBOTICS, 2012, : 531 - 538
[9] Stretch walking pattern generation for a biped humanoid robot
Ogura, Y
Lim, HO
Takanishi, A
[J]. IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 352 - 357
[10] Walking pattern generation for a humanoid robot with compliant joints
Zhibin Li
Nikos G. Tsagarakis
Darwin G. Caldwell
[J]. Autonomous Robots, 2013, 35 : 1 - 14

← 1 2 3 4 5 →