2011 Fiscal Year Final Research Report
Gait Analysis and Biped Walking Stabilization on Soft Ground
| Project/Area Number |
22860061
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| Research Category |
Grant-in-Aid for Research Activity Start-up
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Waseda University |
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Principal Investigator |
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| Project Period (FY) |
2010 – 2011
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| Keywords | ロボティクス / ヒューマノイド / 2足歩行ロボット / 脆弱路面 / 人体計測 |
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| Research Abstract |
The objective of this research is to develop a walking stabilization control on a soft ground based on gait analysis for a humanoid robot. First we conducted gait analysis using a motion capture system on a soft ground. By analyzing experimental data, we obtained two findings. The first finding is that step height tends to increase to avoid tripping on a soft ground. The second finding is that although the vertical CoM amplitude increases on a soft ground, there are no significant differences in the lateral CoM trajectories. Based on these findings, we developed a walking stabilization control to stabilize the CoM motion in the lateral direction. Verification of the proposed control was conducted through experiments with a human-sized humanoid robotWABIAN-2R.
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Research Products
(12 results)
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[Presentation] Avoidance Behavior from External Forces for Biped Vehicle2010
Author(s)
Kenji Hashimoto, Terumasa Sawato, Akihiro Hayashi, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi
Organizer
Proceedings of the 2010 IEEE International Conference on Robotics and Automation
Place of Presentation
Anchorage, Alaska
Year and Date
20100500
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