Gait Planning and Control for Biped Robots Based on Modifiable Key Gait Parameters from Human Motion Analysis

被引：0
|
作者：
Zhu, Hongbo [1 ]
Luo, Minzhou [2 ]
Mei, Tao [3 ]
Li, Tao [2 ]
机构：
[1] Univ Sci & Technol China, Sch Informat Sci & Technol, Hefei, Anhui, Peoples R China
[2] Inst Adv Mfg Technol, Changzhou, Jiangsu, Peoples R China
[3] Univ Sci & Technol China, Hefei, Anhui, Peoples R China
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2015年
关键词：
motion capture; human gait; modifiable key gait parameters; bio-inspired gait planning(BGP); biped robot; WALKING;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, effective gait planning and control is established for biped robots. First, an experiment of human locomotion is carried out using a motion capture system for analysis of human gait features. We found modifiable key gait parameters affecting the dominant performance of biped robots walking from extracted features. Then, we proposed an effective bio-inspired gait planning (BGP) algorithm using modifiable key gait parameters. In final, the proposed method has been verified through simulations and experiment in a real biped robot DRCXT.
引用
收藏
页码：781 / 786
页数：6
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