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http://dx.doi.org/10.5302/J.ICROS.2008.14.2.148

Control Gait Pattern of Biped Robot based on Human's Sagittal Plane Gait Energy  

Ha, Seung-Suk (숭실대학교 정보통신 전자공학부)
Han, Young-Joon (숭실대학교 정보통신 전자공학부)
Hahn, Hern-Soo (숭실대학교 정보통신 전자공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.2, 2008 , pp. 148-155 More about this Journal
Abstract
This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained, as proved by the experiments.
Keywords
biped robot; human gait analysis; zero moment point; genetic algorithm;
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