Analyses of biped walking posture by dynamical-evaluating index

Abstract

In this paper, biped walking posture and design are evaluated through dynamic reconfiguration manipulability shape index (DRMSI). DRMSI is the concept derived from dynamic manipulability and reconfiguration manipulability with remaining redundancy. DRMSI represents the ability of dynamical system of manipulators possessing shape changing acceleration in task space by normalized torque inputs, while the hand motion is assigned as the primary task. Besides, we use visual lifting approach to stabilize the walking and stop falling down. In this research, the primary task is to make the position of the head direct to the desired one as much as possible. And realizing the biped walking is the second task. This research indicates that proposed dynamical-evaluating index is effective in evaluating the biped walking motion and biped humanoid robot has the adjustable configuration to walk with higher flexibility. Flexibility represents the dynamical shape changeability of humanoid robot based on redundancy of the humanoid robot with the premise of the primary task given to keeping the head position high.

On the manipulability of swing foot and stability of human locomotion

“…It was suggested that in studying the kinematics and dynamics of bipeds, locomotion and manipulation should be considered without separation because similarities seem to exist between these functions. Some studies have used the concept of manipulability in a dynamic level [2,17,22,33]. Center of mass (CoM) manipulability and zero moment point (ZMP) manipulability have also been studied in previous studies.…”