Human-like walking patterns with pelvic rotation for a humanoid robot

Wen Zhang; Qiang Huang; Zhangguo Yu; Gao Huang; Xuechao Chen; Jing Li; Gan Ma; Libo Meng; Yan Liu; Si Zhang; Weimin Zhang; Junyao Gao

doi:10.1109/WCICA.2014.7053008

Human-like walking patterns with pelvic rotation for a humanoid robot

Wen Zhang, Qiang Huang, Zhangguo Yu^*, Gao Huang, Xuechao Chen, Jing Li, Gan Ma, Libo Meng, Yan Liu, Si Zhang, Weimin Zhang, Junyao Gao

^*此作品的通讯作者

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

5 引用（Scopus）

摘要

Fast and stable walking is one of the important prerequisite for humanoid robots to serve the people. Pelvic rotations play a significant role when one walks fast. This paper proposes a method to generate human-like walking patterns with pelvic rotation in the transverse plane for a humanoid robot to effectively improve its quickness and stability. First, the regularities of pelvic rotation in the transverse plane during human walking are studied. Second, the mechanism design of a humanoid robot waist for pelvic rotations is presented. Then, a walking trajectory planning with pelvic rotation to improve the stability margin is proposed. Finally, the effectiveness of the method is demonstrated through simulations and experiments on BHR-5.

源语言	英语
主期刊名	Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1887-1892
页数	6
版本	March
ISBN（电子版）	9781479958252
DOI	https://doi.org/10.1109/WCICA.2014.7053008
出版状态	已出版 - 2 3月 2015
活动	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, 中国期限: 29 6月 2014 → 4 7月 2014

出版系列

姓名	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
编号	March
卷	2015-March

会议

会议	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
国家/地区	中国
市	Shenyang
时期	29/06/14 → 4/07/14

访问文件

10.1109/WCICA.2014.7053008

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链接到 Scopus 的出版物

引用此

Zhang, W., Huang, Q., Yu, Z., Huang, G., Chen, X., Li, J., Ma, G., Meng, L., Liu, Y., Zhang, S., Zhang, W., & Gao, J. (2015). Human-like walking patterns with pelvic rotation for a humanoid robot. 在 Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014 (March 编辑, 页码 1887-1892). 文章 7053008 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); 卷 2015-March, 号码 March). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2014.7053008

Zhang, Wen ; Huang, Qiang ; Yu, Zhangguo 等. / Human-like walking patterns with pelvic rotation for a humanoid robot. Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. 编辑 Institute of Electrical and Electronics Engineers Inc., 2015. 页码 1887-1892 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); March).

@inproceedings{61988bc90c0a421bae92cf01213c040f,

title = "Human-like walking patterns with pelvic rotation for a humanoid robot",

abstract = "Fast and stable walking is one of the important prerequisite for humanoid robots to serve the people. Pelvic rotations play a significant role when one walks fast. This paper proposes a method to generate human-like walking patterns with pelvic rotation in the transverse plane for a humanoid robot to effectively improve its quickness and stability. First, the regularities of pelvic rotation in the transverse plane during human walking are studied. Second, the mechanism design of a humanoid robot waist for pelvic rotations is presented. Then, a walking trajectory planning with pelvic rotation to improve the stability margin is proposed. Finally, the effectiveness of the method is demonstrated through simulations and experiments on BHR-5.",

keywords = "Biped robot, Humanoid robot, Pelvic rotation, Walking pattern generation",

author = "Wen Zhang and Qiang Huang and Zhangguo Yu and Gao Huang and Xuechao Chen and Jing Li and Gan Ma and Libo Meng and Yan Liu and Si Zhang and Weimin Zhang and Junyao Gao",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 ; Conference date: 29-06-2014 Through 04-07-2014",

year = "2015",

month = mar,

day = "2",

doi = "10.1109/WCICA.2014.7053008",

language = "English",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "March",

pages = "1887--1892",

booktitle = "Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014",

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edition = "March",

}

Zhang, W, Huang, Q, Yu, Z, Huang, G, Chen, X, Li, J, Ma, G, Meng, L, Liu, Y, Zhang, S, Zhang, W & Gao, J 2015, Human-like walking patterns with pelvic rotation for a humanoid robot. 在 Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March 编辑, 7053008, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 号码 March, 卷 2015-March, Institute of Electrical and Electronics Engineers Inc., 页码 1887-1892, 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014, Shenyang, 中国, 29/06/14. https://doi.org/10.1109/WCICA.2014.7053008

Human-like walking patterns with pelvic rotation for a humanoid robot. / Zhang, Wen; Huang, Qiang; Yu, Zhangguo 等.
Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. 编辑 Institute of Electrical and Electronics Engineers Inc., 2015. 页码 1887-1892 7053008 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); 卷 2015-March, 号码 March).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Human-like walking patterns with pelvic rotation for a humanoid robot

AU - Zhang, Wen

AU - Huang, Qiang

AU - Yu, Zhangguo

AU - Huang, Gao

AU - Chen, Xuechao

AU - Li, Jing

AU - Ma, Gan

AU - Meng, Libo

AU - Liu, Yan

AU - Zhang, Si

AU - Zhang, Weimin

AU - Gao, Junyao

PY - 2015/3/2

Y1 - 2015/3/2

N2 - Fast and stable walking is one of the important prerequisite for humanoid robots to serve the people. Pelvic rotations play a significant role when one walks fast. This paper proposes a method to generate human-like walking patterns with pelvic rotation in the transverse plane for a humanoid robot to effectively improve its quickness and stability. First, the regularities of pelvic rotation in the transverse plane during human walking are studied. Second, the mechanism design of a humanoid robot waist for pelvic rotations is presented. Then, a walking trajectory planning with pelvic rotation to improve the stability margin is proposed. Finally, the effectiveness of the method is demonstrated through simulations and experiments on BHR-5.

AB - Fast and stable walking is one of the important prerequisite for humanoid robots to serve the people. Pelvic rotations play a significant role when one walks fast. This paper proposes a method to generate human-like walking patterns with pelvic rotation in the transverse plane for a humanoid robot to effectively improve its quickness and stability. First, the regularities of pelvic rotation in the transverse plane during human walking are studied. Second, the mechanism design of a humanoid robot waist for pelvic rotations is presented. Then, a walking trajectory planning with pelvic rotation to improve the stability margin is proposed. Finally, the effectiveness of the method is demonstrated through simulations and experiments on BHR-5.

KW - Biped robot

KW - Humanoid robot

KW - Pelvic rotation

KW - Walking pattern generation

UR - http://www.scopus.com/inward/record.url?scp=84932162722&partnerID=8YFLogxK

U2 - 10.1109/WCICA.2014.7053008

DO - 10.1109/WCICA.2014.7053008

M3 - Conference contribution

AN - SCOPUS:84932162722

T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

SP - 1887

EP - 1892

BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014

Y2 - 29 June 2014 through 4 July 2014

ER -

Zhang W, Huang Q, Yu Z, Huang G, Chen X, Li J 等. Human-like walking patterns with pelvic rotation for a humanoid robot. 在 Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March 编辑 Institute of Electrical and Electronics Engineers Inc. 2015. 页码 1887-1892. 7053008. (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); March). doi: 10.1109/WCICA.2014.7053008

Human-like walking patterns with pelvic rotation for a humanoid robot

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