Toward a human-like biped robot gait: Biomechanical analysis of human locomotion recorded by Kinect-based Motion Capture system

Gabbasov, B.M.; Danilov, Igor; Afanasyev, Ilya; Magid, Evgeni

doi:10.1109/isma.2015.7373477

Cited by 9 publications

(7 citation statements)

References 11 publications

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“…For straightforward motion it is assumed that in a frontal plane a swing leg is perpendicular to the ground (or support plane) at each time instance, a swing foot is parallel to the ground, and a hip height remains constant during the locomotion. These assumptions arise from human natural walk analysis (Gabbasov et al, 2015) and are widely applied in experimental works for biped locomotion (Yussof et al, 2008). Taking into account that a desired trajectory of a swing leg lies in a sagittal plane, all joint coordinates of the swing leg are uniquely defined for any foot and hip locations.…”

Section: Problem Statementmentioning

confidence: 99%

Swing Leg Trajectory Optimization for a Humanoid Robot Locomotion

Khusainov

Klimchik

Magid

2016

Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics

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The problem of walking trajectory optimisation for bipedal humanoid robots attracts many researchers because of excessive interest to bipedal locomotion. The main focus is usually on robot dynamics and trajectory planning for predefined walking primitives. In contrast to other works, our paper targets to obtain optimal walking primitive for swing leg trajectory of bipedal humanoid robot walking. Optimal walking primitives are obtained taking into account velocity and acceleration physical limitations of each joint and are derived for different walking parameters such as step size and hip height. To obtain a desired time-optimal trajectory dynamic programing approach is used. It is shown that a new trajectory is performed within a shorter time comparing with commonly used locomotion trajectories for bipedal robots control. The results allow us to assign walking parameters and corresponding walking primitive that maximize robot velocity for predefined environment constraints.

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Section: Problem Statementmentioning

confidence: 99%

Swing Leg Trajectory Optimization for a Humanoid Robot Locomotion

Khusainov

Klimchik

Magid

2016

Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics

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“…Mocap permite la captura de parámetros de movimiento lineales y coordenadas angulares, velocidades y aceleraciones para extremidades y articulaciones. El hardware Mocap depende en gran medida de la tecnología de captura de movimiento (marcador o sin marcador), y puede usar sensores con diferentes principios físicos: cámaras 2D/3D para detección óptica, sensores magnéticos con imanes permanentes y receptores de bobina para registrar cambios en el campo magnético, esqueletos mecánicos para rastreo directo de ángulos de articulación, o basados en sensores inerciales como acelerómetros y giróscopos [8].…”

Section: Introductionunclassified

“…Pueo y Jimenez [11] reportan que los métodos existentes para la captura del movimiento utilizan una variedad de técnicas, entre las que se incluyen sistemas con múltiples cámaras de video que trabajan con luz infrarroja y sistemas con una única cámara con sensores adicionales para recuperar información de profundidad de la escena. El sistema óptico Mocap se basa en la captura de imágenes 2D usando varias cámaras y encontrando un modelo 3D por triangulación con la ayuda de marcadores activo/pasivo o sin ellos [8]. Otros sistemas de captura están evolucionando con la incorporación de técnicas que no requieren de marcadores [12,13].…”

Section: Introductionunclassified

Human motion capture and analysis systems: a systematic review/Sistemas de captura y análisis de movimiento cinemático humano: una revisión sistemática

et al. 2018

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El movimiento humano ha sido sujeto de numerosas investigaciones, principalmente en las ciencias biomédicas, ciencias del deporte y animación 3D. Dada la gran cantidad de tecnologías disponibles en el mercado, surge la necesidad de realizar una vigilancia tecnológica que determine sus principales ventajas y limitaciones, aplicaciones y situación actual de Colombia en cuanto a estudios que involucren este tipo de tecnologías. Para lograrlo, se realizó una revisión sistemática de literatura científica a nivel global, siguiendo los parámetros de las metodologías PRISMA y PRISMA P-2015. Se encontró que las tecnologías cinemáticas de análisis de movimiento se dividen en ópticos, inerciales y magnéticos, dónde los sistemas ópticos reportan el mayor número de publicaciones, siendo la tecnología Vicon la más utilizada, debido al gran abanico de aplicaciones que presenta. En cuanto a Colombia, se evidencia poca participación en estos estudios, por lo que se debe fortalecer esta competencia tanto a nivel académico como empresarial.

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“…To deal with this issue, Ha and Cho 9 proposed a novel simplified robot model, which is called Virtual Height Inverted Pendulum Model (VHIPM) and experimentally demonstrated that the ZMP error could be significantly reduced by varying the height of Center of Mass (CoM) in their LIPM model. In this paper we present two pattern generation principles: preview control method and VHIPM method with LIPM model 10,11 . The algorithms modelling, experiments and testing were carried out in MATLAB/ Simulink environment.…”

Section: Introductionmentioning

confidence: 99%

Bipedal robot locomotion modelling with virtual height inverted pendulum and preview control approaches in Simulink environment

Khusainov¹,

Afanasyev²,

Sabirova³

et al. 2016

JRNAL

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Control algorithms development for humanoid locomotion is difficult due to humanoid's high number of Degrees of Freedom and system nonlinearity. Moreover, a humanoid may lose balance as its walking speed changes. We present AR-601M humanoid locomotion modelling with virtual height inverted pendulum and preview control approaches. A step length and period influence on walking stability were investigated and simulated within Simulink environment. Achievable in simulation maximal torques in leg joints and corresponding trajectories were verified against attainable robot motors' values.

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Toward a human-like biped robot gait: Biomechanical analysis of human locomotion recorded by Kinect-based Motion Capture system

Cited by 9 publications

References 11 publications

Swing Leg Trajectory Optimization for a Humanoid Robot Locomotion

Swing Leg Trajectory Optimization for a Humanoid Robot Locomotion

Human motion capture and analysis systems: a systematic review/Sistemas de captura y análisis de movimiento cinemático humano: una revisión sistemática

Bipedal robot locomotion modelling with virtual height inverted pendulum and preview control approaches in Simulink environment

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