Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30069
Adaptive Gait Pattern Generation of Biped Robot based on Human's Gait Pattern Analysis

Authors: Seungsuk Ha, Youngjoon Han, Hernsoo Hahn

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.

Keywords: Biped robot, gait pattern, genetic algorithm.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1060291

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF

References:


[1] Capi, Masao Yokota, "Optimal Multi -criteria humanoid robot gait synthesis-an evolutionary approach", Int. Journal of Innovative Computing, Information and Control, Vol.2, 2006, pp. 1249-1258
[2] M.-y.Cheng, C.-S. Lin, "Genetic Algorithm for Control Design of Biped Locomotion", Journal of Robotic System, Vol.5, , 1997, pp. 365-373.
[3] Hasagawa Y, Arakawa T, Fukuda T, "Trajectory generation for biped locomotion robot" ,Mechatronics, Vol.10, 2000, pp. 67-89
[4] Jong Hyeon Park, Moosung Choi, "Genration of an Optimal Gait Trajectory for Biped Robots Using a Genetic Algorithm", JSME International Journal, Vol.47, No.2, 2004, pp. 715-721
[5] Genci Capi, Masao Yokota, and Kazuhisa Mitobe, "A new Humanoid Robot Gait Generation based on Multiobjective Optimization," in Proc. 2005 IEEE Int. Conf. Advanced Intelligent Mechatronics, 2005, pp. 450-454.
[6] Zhe Tang, Zengqi Sun, Changjiu Zhou, "GA Based Optimization for Humanoid Walking," ICGST-ARAS international Journal on Automation, Robotics and Autonomous Systems, vol 5, 2006, pp. 1-10.
[7] A. Borghese, L Bianchi, F Lacquaniti, "Kinematic determinants of human locomotion," Journal of Physiology, 1996, pp. 863 - 879
[8] Xiuping Mu, "A Complete Dynamic Model of Five-Link Biped Walking," in Proc. American Control Conf, vol 1, 2003, pp.4926 - 4931
[9] Miomir Vokobratovic, Branislav Borovac, "Zero-Moment Point - Thirty Five Years of its Lift," Int. Journal of Humanoid Robotics, vol 1, 2004, pp. 157 - 173
[10] David A. Winter, "Biomechanics and Motor Control of Human Movement," Wiley, 1990.