TY - GEN
T1 - Humanoid walking pattern generation based on the ground reaction force features of human walking
AU - Yu, Zhangguo
AU - Chen, Xuechao
AU - Huang, Qiang
AU - Wang, Huaping
AU - Zhang, Si
AU - Xu, Wei
AU - Li, Jing
AU - Ma, Gan
AU - Zhang, Weimin
AU - Fan, Ningjun
PY - 2012
Y1 - 2012
N2 - This paper presents a humanoid pattern generation method based on the ground reaction force features of human walking. A human can walk with high power efficiency and compliant landing, which have a close relationship to the ground reaction force. By investigating the ground reaction force of human walking, some features of the ground reaction force are obtained. According to these features, a novel method to design humanoid ZMP trajectories is proposed to mimic human ZMP trajectories. This method can vary ZMP trajectories easily to generate waking patterns with less fluctuations of walking velocity. In addition, a humanoid robot model is presented for alternating support leg smoothly to avoid the contact impact. This model covers the dynamics of both single support phase and double support phase. Finally, the reliability of the proposed methods is verified by dynamic simulation and walk experiment on a real humanoid robot.
AB - This paper presents a humanoid pattern generation method based on the ground reaction force features of human walking. A human can walk with high power efficiency and compliant landing, which have a close relationship to the ground reaction force. By investigating the ground reaction force of human walking, some features of the ground reaction force are obtained. According to these features, a novel method to design humanoid ZMP trajectories is proposed to mimic human ZMP trajectories. This method can vary ZMP trajectories easily to generate waking patterns with less fluctuations of walking velocity. In addition, a humanoid robot model is presented for alternating support leg smoothly to avoid the contact impact. This model covers the dynamics of both single support phase and double support phase. Finally, the reliability of the proposed methods is verified by dynamic simulation and walk experiment on a real humanoid robot.
UR - http://www.scopus.com/inward/record.url?scp=84866628588&partnerID=8YFLogxK
U2 - 10.1109/ICInfA.2012.6246919
DO - 10.1109/ICInfA.2012.6246919
M3 - Conference contribution
AN - SCOPUS:84866628588
SN - 9781467322386
T3 - 2012 IEEE International Conference on Information and Automation, ICIA 2012
SP - 753
EP - 758
BT - 2012 IEEE International Conference on Information and Automation, ICIA 2012
T2 - 2012 IEEE International Conference on Information and Automation, ICIA 2012
Y2 - 6 June 2012 through 8 June 2012
ER -