Biped robot gait pattern generation using frequency feature of human's gait torque analysis
نویسندگان
چکیده
منابع مشابه
Adaptive Gait Pattern Generation of Biped Robot based on Human's Gait Pattern Analysis
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 va...
متن کاملStable Gait Planning and Robustness Analysis of a Biped Robot with One Degree of Underactuation
In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...
متن کاملLower energy Gait Pattern Generation in 5-Link Biped Robot Using Image Processing
The purpose of this study is to find natural gait of biped robot such as human being by analyzing the COG (Center Of Gravity) trajectory of human being's gait. It is discovered that human beings gait naturally maintain the stability and use the minimum energy. This paper intends to find the natural gait pattern of biped robot using the minimum energy as well as maintaining the stability by anal...
متن کاملGeneration of semi-optimal gait trajectories for a biped robot
Over the last decennia there has been a wide interest in walking robots. They are potentially more capable of moving through the human environment and going over rough terrain than wheeled vehicles. We generate some 2D gaits for an approximately 0.5 [m] tall human like entertainment robot and we apply these in a very first experiment. The locomotion types we study are: walking at constant veloc...
متن کاملReal time motion generation and control for biped robot -1st report: Walking gait pattern generation-
Generating stable dynamic motions for a biped robot in real time is difficult due to the unstable nature of biped systems and their high degrees of freedom. We propose an approximate dynamics model for biped robots with three masses and no kinematic constraints. We also propose a relaxed boundary condition called “the divergent component of motion”. These techniques allow us to generate walking...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Korean Institute of Intelligent Systems
سال: 2008
ISSN: 1976-9172
DOI: 10.5391/jkiis.2008.18.1.100