Algorithm of Pattern Generation for Mimicking Disabled Person's Gait

被引：0

作者：

Kondo, Hideki ^{[1
]}

Morishima, Akitoshi ^{[1
]}

Ogura, Yu ^{[1
]}

Momoki, Shimpei ^{[1
]}

Shimizu, Juri ^{[1
]}

Lim, Hun-ok ^{[2
,3
]}

Takanishi, Atsuo ^{[3
,4
]}

机构：

[1] Waseda Univ, Grad Sch Adv Sci & Engn, Tokyo, Japan

[2] Kanagawa Univ, Dept Engn Mech, Tokyo, Japan

[3] Waseda Univ, HRI, Tokyo, Japan

[4] Waseda Univ, Dept Engn Mech, Tokyo, Japan

来源：

2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2 | 2008年

基金：

日本学术振兴会;

关键词：

D O I：

暂无

中图分类号：

Q81 [生物工程学（生物技术）]; Q93 [微生物学];

学科分类号：

071005 ; 0836 ; 090102 ; 100705 ;

摘要：

the goal of this study is to realize a biped humanoid robot as a human motion simulator; where a biped humanoid robot having an ability to mimic various human motions is used for testing welfare apparatuses. In this paper, a humanoid robot, WABIAN-2R, capable of not only human-like walking but also the emulation of disabled persons' walking is proposed. It has two 6-DOF legs, two 1-DOF feet, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, an algorithm for generating walking patterns for emulations of disabled persons' gaits for each case of disabilities based on the ZMP criterion is described. Moreover, the emulation experiment of the hemiplegic gait of a subject was conducted to demonstrate the effectiveness of the pattern generation method and mechanism of WABIAN-2R as a human motion simulator.

引用

页码：812 / +

页数：3

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