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http://dx.doi.org/10.5391/JKIIS.2008.18.1.100

Biped robot gait pattern generation using frequency feature of human's gait torque analysis  

Ha, Seung-Suk (숭실대학교 전자공학과)
Han, Young-Joon (숭실대학교 전자공학과)
Hahn, Hern-Soo (숭실대학교 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.18, no.1, 2008 , pp. 100-108 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, galt trajectories of the biped robot on the sagittal Plane are not enough to construct the complete gait pattern because the bided 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.
Keywords
biped robot; gait pattern frequency feature; human gait; Genetic Algorithm;
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