Simultaneous locomotion of biped robot with the transmission of human motion

D. Kasun Prasanga, Kouhei Ohnishi

研究成果: Conference contribution

抄録

This paper proposes a novel, simultaneous bipedal locomotion method with the use of human skill of walking, to increase the performance of walking of the biped robot. Traditional walking methods require high computational power and advanced controllers to realize bipedal walking. In this proposed method, an exoskeleton attached to the human's lower body is used to obtain the joint information and the obtained joint information is then replicated on a biped robot in real time. The lateral motion of the center of mass of the biped is constrained in this experiment and is not discussed in this paper. Since a direct motion transmission is used in the proposal, this method is quite straight forward and a simultaneous walking can be realized at the same time with a high performance. Also, it doesn't require any dynamic model of the biped or specific trajectory planning method. The gait of the biped is directly determined by that of the human. Therefore, this method can copy the motion of human walking to a biped. Results obtained from the experiments validate the proposed method.

本文言語English
ホスト出版物のタイトルProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
出版社IEEE Computer Society
ページ797-802
ページ数6
ISBN(電子版)9781509034741
DOI
出版ステータスPublished - 2016 12月 21
イベント42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
継続期間: 2016 10月 242016 10月 27

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
国/地域Italy
CityFlorence
Period16/10/2416/10/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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