Online Joint Trajectory Generation of Human-like Biped Walking

Clinical gait analysis attempts to provide, in a pathological context, an objective record that quantifies the magnitude of deviations from normal gait. However, the identification of deviations is highly dependent with the characteristics of the normative database used. In particular, a mismatch between patient characteristics and an asymptomatic population database in terms of walking speed, demographic and anthropometric parameters may lead to misinterpretation during the clinical process. Rather than developing a new normative data repository that may require considerable of resources and time, this study aims to assess a method for predicting lower limb sagittal kinematics using multiple regression models based on walking speed, gender, age and BMI as predictors. With this approach, we were able to predict kinematics with an error within 1 standard deviation of the mean of the original waveforms recorded on fifty-four participants. Furthermore, the proposed approach allowed us to estimate the relative contribution to angular variations of each predictor, independently from the others. It appeared that a mismatch in walking speed, but also age, sex and BMI may lead to errors higher than 5° on lower limb sagittal kinematics and should thus be taken into account before any clinical interpretation.

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“…11 and Roislien et al . 19 in similar studies. Further studies might thus be necessary to explain this phenomena.…”

Section: Discussionsupporting

confidence: 68%

“…g . walking speed) 13–17 , 2) motion planning using parametric trajectories and a physics-based simulator 18,19 , 3) multiple regression models introducing several dependant variable ( e . g .…”

Section: Introductionmentioning

confidence: 99%

Lower limb sagittal gait kinematics can be predicted based on walking speed, gender, age and BMI

Moissenet

Leboeuf

Armand³

2019

Sci Rep

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“…In [4], blending polynomial (BP) was basically employed to shaping joint angle trajectories, which uses cubic polynomial as each component segment. where q and OJ denote angle and angular velocity, respectively, and the three subscripts 0, m , and f represent initial, medium, and final values, respectively.…”

Section: Joint Trajectory Scheme For Biped Walkingmentioning

confidence: 99%

Emotion expression of humanoid robot by modification of biped walking pattern

Chien

Sung

Trung

et al. 2015

2015 15th International Conference on Control, Automation and Systems (ICCAS)

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Humans have various emotion types which affect speculation, making decisions, behavior, and the like. In particular, walking is also affected by temporal emotion status, which can be easily inferred by his or her walking style and pattern. So far, researches on biped walking with humanoid robots have been mainly focused on stable walking irrespective of ground condition. For effective human-robot interaction, however, gait patterns need to be appropriately changed depending on the current emotion status of the robot. This paper provides an analysis result of gait experiment data for the men and women subjects in four representative affective walking, i.e., easy, joyful, angry, and sorrow walking. In addition, the way how humanoid robot can express the emotion status during walking is proposed with Matlab simulation in terms of joint coordinate space.

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“…Most research works have been focused on walking on the level ground [1]- [4]. The perfectly level ground is somewhat rare even in human's living environment and robots are sometimes required to walk on sloped terrain or floor for abnormal services such as transportation, rescue, and the like.…”

Section: Introductionmentioning

confidence: 99%

Posture adaptation of humanoid robot for standing on the inclined floor using inverse kinematics of the projective method

Chien

Tin

Kim

2014

2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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This paper deals with humanoid robot's standing on the inclined floor with a walk-ready posture, which is usual in human's living environment. To this end, inverse kinematic method is newly proposed using the projection method and Taylor polynomial expansion. In addition, each joint angle in the legs is adjusted according to the scheme with which the robot is aligned with the modified gravity force and the feet are still attached on the inclined floor. The proposed approach is validated through simulation result.

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Online Joint Trajectory Generation of Human-like Biped Walking

Cited by 13 publications

References 12 publications

Lower limb sagittal gait kinematics can be predicted based on walking speed, gender, age and BMI

Lower limb sagittal gait kinematics can be predicted based on walking speed, gender, age and BMI

Emotion expression of humanoid robot by modification of biped walking pattern

Posture adaptation of humanoid robot for standing on the inclined floor using inverse kinematics of the projective method

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