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

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1887-1892
Number of pages	6
Edition	March
ISBN (Electronic)	9781479958252
DOIs	https://doi.org/10.1109/WCICA.2014.7053008
Publication status	Published - 2 Mar 2015
Event	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, China Duration: 29 Jun 2014 → 4 Jul 2014

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Number	March
Volume	2015-March

Conference

Conference	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Country/Territory	China
City	Shenyang
Period	29/06/14 → 4/07/14

Keywords

Biped robot
Humanoid robot
Pelvic rotation
Walking pattern generation

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10.1109/WCICA.2014.7053008

Cite this

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. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014 (March ed., pp. 1887-1892). Article 7053008 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2014.7053008

Zhang, Wen ; Huang, Qiang ; Yu, Zhangguo et al. / 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. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 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.",

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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. in Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March edn, 7053008, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), no. March, vol. 2015-March, Institute of Electrical and Electronics Engineers Inc., pp. 1887-1892, 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014, Shenyang, China, 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 et al.
Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1887-1892 7053008 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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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

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M3 - Conference contribution

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

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

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 29 June 2014 through 4 July 2014

ER -

Zhang W, Huang Q, Yu Z, Huang G, Chen X, Li J et al. Human-like walking patterns with pelvic rotation for a humanoid robot. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 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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