Title :
Generation of humanoid walking pattern based on human walking measurement
Author :
Huang, Qiang ; Yu, Zhangguo ; Zhang, Weimin ; Duan, Xingguang ; Yuancan Huang ; Li, Kejie
Author_Institution :
Sch. of Aerosp. Sci. & Eng., Beijing Inst. of Technol., Beijing
Abstract :
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.
Keywords :
humanoid robots; legged locomotion; BHR-2; human walking measurement; humanoid robot; humanoid walking pattern generation; Anthropometry; Character generation; Data analysis; Hip; Humanoid robots; Humans; Joints; Legged locomotion; Motion planning; Stability; Human Walking characteristics; Humanoid robot; Motion capture; Walking pattern; ZMP;
Conference_Titel :
Humanoid Robots, 2008. Humanoids 2008. 8th IEEE-RAS International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4244-2821-2
Electronic_ISBN :
978-1-4244-2822-9
DOI :
10.1109/ICHR.2008.4755938
