Humanoid walking pattern generation based on the ground reaction force features of human walking

2012 ◽  
Author(s):  
Zhangguo Yu ◽  
Xuechao Chen ◽  
Qiang Huang ◽  
Huaping Wang ◽  
Si Zhang ◽  
...  
Keyword(s):  
Ground Reaction Force ◽  
Reaction Force ◽  
Pattern Generation ◽  
Human Walking ◽  
Walking Pattern ◽  
Walking Pattern Generation

scholarly journals Feasibility Check of an Assist System Through the Simulation of Bipedal Walking Using a CPG

2012 ◽  
Vol 24 (4) ◽  
pp. 657-665
Author(s):  
Tomohito Takubo ◽  
◽  
Yohei Fukano ◽  
Kenichi Ohara ◽  
Yasushi Mae ◽  
...  
Keyword(s):  
Pressure Sensor ◽  
Pattern Generator ◽  
Pattern Generation ◽  
Bipedal Walking ◽  
Human Walking ◽  
Trajectory Data ◽  
Body Dimension ◽  
Walking Pattern ◽  
Walking Pattern Generation ◽  
Mobile Base

A wearable mobile-base Walking Assist System (WAS) is simulated in this paper with the bipedal simulator we developed. The simulator employs a Central Pattern Generator (CPG) for bipedal walking pattern generation. The CPG-based walking pattern is one of the candidates for simulating human walking. Average Japanese body dimension data is applied to the bipedal model so that walking efficiency can be evaluated using the simulator. The effectiveness of the proposed simulator is confirmed by comparing real human walking and simulated walking in terms of the shape of the swing leg trajectory, data from the pressure sensor, and the feasibility of the prototype WAS. A prototype is developed and experimental results show the effectiveness of the bipedal simulator.

Emulation of Human Walking by Biped Humanoid Robot with Heel-Contact and Toe-Off Motion

2008 ◽  
Vol 20 (5) ◽  
pp. 739-749 ◽  
Author(s):  
Hideki Kondo ◽  
◽  
Yu Ogura ◽  
Kazushi Shimomura ◽  
Shimpei Momoki ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Motion Capture ◽  
Ground Reaction Force ◽  
Humanoid Robot ◽  
Reaction Force ◽  
Pattern Generation ◽  
Human Walking ◽  
Zero Moment Point ◽  
Heel Contact ◽  
Zero Moment

The foot mechanism and pattern generation we propose for a biped humanoid robot achieves human-like heel-contact toe-off walking. Placing its heel and toes simultaneously on the ground while walking makes it difficult for a robot to take long strides and mimic human gaits. To solve this problem, we developed a biped foot with one passive toe joint based on human gaits analyzed by motion capture and propose pattern generation for human-like walking based on the zero moment point (ZMP) criterion. Using a genetic algorithm, we optimize walking parameters to generate continuous, smooth foot trajectories. Results of experiments in heel-contact toe-off walking in ground reaction force (GRF) using the biped humanoid robot WABIAN-2 demonstrated the similarity between proposed and human walking.

scholarly journals 1402 Walking Pattern Generation of a Two-legged Robot by CPG and Optimization of Walking

2007 ◽  
Vol 2007.82 (0) ◽  
pp. _14-2_
Author(s):  
Yusuke SAITO ◽  
Kiyoshi OGAWA ◽  
Yogo TAKADA ◽  
Tomoyuki WAKISAKA
Keyword(s):  
Pattern Generation ◽  
Legged Robot ◽  
Walking Pattern ◽  
Walking Pattern Generation

Human knee joint walking pattern generation using computational intelligence techniques

2018 ◽  
Vol 30 (6) ◽  
pp. 1701-1713 ◽  
Author(s):  
João P. Ferreira ◽  
Alexandra Vieira ◽  
Paulo Ferreira ◽  
Manuel Crisóstomo ◽  
A. Paulo Coimbra
Keyword(s):  
Knee Joint ◽  
Computational Intelligence ◽  
Pattern Generation ◽  
Human Knee ◽  
Walking Pattern ◽  
Human Knee Joint ◽  
Walking Pattern Generation
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