A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP

Tianqi Yang; Weimin Zhang; Qiang Huang; Xuechao Chen; Zhanguo Yu; Libo Meng

doi:10.13973/j.cnki.robot.2017.0751

A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP

Tianqi Yang, Weimin Zhang, Qiang Huang^*, Xuechao Chen, Zhanguo Yu, Libo Meng

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

6 Citations (Scopus)

Abstract

Based on the ZMP (zero moment point) trajectory and the walking data of human, a new method is proposed to improve the robot walking smoothness as well as to save energy. Firstly, a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory. Secondly, a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data. Thirdly, the new planning method is applied to the multi-link model based gait planning method. Finally, the feasibility of the proposed method is verified by simulation and experiments.

Original language	English
Pages (from-to)	751-758
Number of pages	8
Journal	Jiqiren/Robot
Volume	39
Issue number	5
DOIs	https://doi.org/10.13973/j.cnki.robot.2017.0751
Publication status	Published - 1 Sept 2017

Keywords

Allowable ZMP (zero moment point) region
Gait planning
Multi-link model
ZMP planning algorithm

Access to Document

10.13973/j.cnki.robot.2017.0751

Cite this

@article{9d1525ab4861498e88360418a934f0fa,

title = "A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP",

abstract = "Based on the ZMP (zero moment point) trajectory and the walking data of human, a new method is proposed to improve the robot walking smoothness as well as to save energy. Firstly, a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory. Secondly, a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data. Thirdly, the new planning method is applied to the multi-link model based gait planning method. Finally, the feasibility of the proposed method is verified by simulation and experiments.",

keywords = "Allowable ZMP (zero moment point) region, Gait planning, Multi-link model, ZMP planning algorithm",

author = "Tianqi Yang and Weimin Zhang and Qiang Huang and Xuechao Chen and Zhanguo Yu and Libo Meng",

year = "2017",

month = sep,

day = "1",

doi = "10.13973/j.cnki.robot.2017.0751",

language = "English",

volume = "39",

pages = "751--758",

journal = "Jiqiren/Robot",

issn = "1002-0446",

publisher = "Chinese Academy of Sciences",

number = "5",

}

TY - JOUR

T1 - A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP

AU - Yang, Tianqi

AU - Zhang, Weimin

AU - Huang, Qiang

AU - Chen, Xuechao

AU - Yu, Zhanguo

AU - Meng, Libo

PY - 2017/9/1

Y1 - 2017/9/1

N2 - Based on the ZMP (zero moment point) trajectory and the walking data of human, a new method is proposed to improve the robot walking smoothness as well as to save energy. Firstly, a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory. Secondly, a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data. Thirdly, the new planning method is applied to the multi-link model based gait planning method. Finally, the feasibility of the proposed method is verified by simulation and experiments.

AB - Based on the ZMP (zero moment point) trajectory and the walking data of human, a new method is proposed to improve the robot walking smoothness as well as to save energy. Firstly, a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory. Secondly, a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data. Thirdly, the new planning method is applied to the multi-link model based gait planning method. Finally, the feasibility of the proposed method is verified by simulation and experiments.

KW - Allowable ZMP (zero moment point) region

KW - Gait planning

KW - Multi-link model

KW - ZMP planning algorithm

UR - http://www.scopus.com/inward/record.url?scp=85031764431&partnerID=8YFLogxK

U2 - 10.13973/j.cnki.robot.2017.0751

DO - 10.13973/j.cnki.robot.2017.0751

M3 - Article

AN - SCOPUS:85031764431

SN - 1002-0446

VL - 39

SP - 751

EP - 758

JO - Jiqiren/Robot

JF - Jiqiren/Robot

IS - 5

ER -

A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP

Abstract

Keywords

Access to Document

Other files and links

Cite this