Human-and-Humanoid Motion - Distinguish Between Safe and Risky Mode

Tomić, Marija; Potkonjak, Veljko; Rodić, Aleksandar; Antoska, Vesna

doi:10.3182/20120905-3-hr-2030.00070

Cited by 2 publications

(1 citation statement)

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“…In order to analyze the stability of human roller skating, the zero moment point (ZMP) (Vukobratovic and Borovac 2004; Potkonjak 2012), used for analysis of human and robot motion, stability was selected to be the stability criterion. In contrast to traditional human walking, the contact area of the roller skate between one passive wheel and the ground is very small.…”

Section: Discussionmentioning

confidence: 99%

Motion characteristics of human roller skating

Chen

et al. 2019

Biology Open

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In order to achieve a high speed of skating robot based on the leg structure – with passive wheels on even ground – the motion characteristics of human roller skating are studied in this paper. Utilizing a three dimensional motion capture system, the linear and turning gait are analyzed to express the motion characteristics of human roller skating. According to the observation and analysis, the normal linear gait can be divided into four phases and normal turning can be divided into three phases. The spin angle between the sagittal plane and the roller skate of the supporting leg is mainly generated by the external/internal rotation of the hip joint instead of the ankle, and the spin angular velocity of the body with one supporting leg is mainly generated by the roller angle of passive wheels. A new model we named the ‘skating inverted pendulum’ – based on the motion and angle features of the roller skating gait – is presented, which can be used to describe the characteristics of one supporting leg. The structure of roller skates and how they improve stability for roller skating, and the method of turning with a small radius are discussed.

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Section: Discussionmentioning

confidence: 99%