Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Kinesiology Based Human-like Walking Pattern Design for a Bipedal Robot

인체운동학에 기반한 이족로봇의 인간형 걸음새 설계

  • 박진희 (한국항공대학교 항공우주기계공학부) ;
  • 권상주 (한국항공대학교 항공우주기계공학부)
  • Received : 2010.10.04
  • Accepted : 2011.05.17
  • Published : 2011.07.01
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Abstract

The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.

Keywords

References

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