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
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