2014 Fiscal Year Final Research Report
Full-Body Motion Control Based on Gait Analysis for Biped Humanoid Robot and Quantitative Evaluation of Welfare Equipment
| Project/Area Number |
24360099
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Partial Multi-year Fund |
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| Section | 一般 |
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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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| Co-Investigator(Kenkyū-buntansha) |
LIM Hun-ok 神奈川大学, 工学部, 教授 (10318769)
HASHIMOTO Kenji 早稲田大学, 理工学術院, 講師 (10449340)
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Keywords | ロボティクス / ヒューマノイド / ２足歩行 / 歩行解析 |
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| Outline of Final Research Achievements |
In this study we developed a biped walking stabilization based on gait analysis for a humanoid robot. So far, we have developed a humanoid robot as a human motion simulator which can quantitatively evaluate welfare equipment instead of human subjects. However, the walking motion of the robot looked like human's, but a walking stabilization control was not based on gait analysis. To use a humanoid robot as a human motion simulator, not only mechanisms but also a stabilizer should be designed based on human beings.
We developed a head motion stabilization model and a walking stabilization control on a soft ground based on gait analysis. Verification of the proposed controls was conducted through experiments with a human-sized humanoid robot WABIAN-2.
We also developed a new shank mechanism to mimic human-like walking in the horizontal and frontal planes and a shoes-wearable foot mechanism which mimics human's foot arch structure and the characteristics of the foot skin.
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| Free Research Field |
ロボット工学
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