Open AccessOnline Joint Trajectory Generation of Human-like Biped Walking
Author(s) -
Jong-Wook Kim
Publication year - 2014
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/57415
Subject(s) - computer science , humanoid robot , swing , trajectory , particle swarm optimization , gait , obstacle , robot , joint (building) , preferred walking speed , biped robot , simulation , control theory (sociology) , artificial intelligence , algorithm , physical medicine and rehabilitation , control (management) , astronomy , acoustics , political science , law , engineering , medicine , architectural engineering , physics
Biped walking has long been studied in the area of gait analysis and robotic locomotion. The goal of this paper is to establish a systematic methodology for human-like natural walking by fusing the measured human joint data and optimal pattern generation techniques based on a full-body humanoid model. To this end, this paper proposes an adaptive two-stage gait pattern by which the step length and walking velocity can be changed with two scaling factors. In addition, to cope with the situations involving passing over a small obstacle, the joint trajectories of the swing foot can be adjusted with a novel concept of differential angle trajectory using a reliable optimization method, viz. particle swarm optimization. The feasibility of the proposed walking scheme is validated by walking experiments with the robot platform DARwIn-OP