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http://dx.doi.org/10.5302/J.ICROS.2011.17.7.659

Kinesiology Based Human-like Walking Pattern Design for a Bipedal Robot  

Park, Jin-Hee (Korea Aerospace University)
Kwon, Sang-Joo (Korea Aerospace University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.7, 2011 , pp. 659-667 More about this Journal
Abstract
The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.
Keywords
biped; humanoid; robot foot; human-like walking; ZMP trajectory; CoM trajectory; ankle trajectory;
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Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 0
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