Trajectory planning for a leg swing during human walking

Nakamura, M.; Mori, Masahiro; Nishii, Jun

doi:10.1109/icsmc.2004.1398398

Cited by 17 publications

(10 citation statements)

References 27 publications

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“…In this study, the desired foot trajectory of the paralyzed leg for the first step is provided based on [13] [15] in hip joint coordinate. An artificial neural network is used to approximate the desired foot trajectory of the paralyzed leg for the first step.…”

Section: Walking Assistmentioning

confidence: 99%

Walking assist for a stroke survivor with a power-assist exoskeleton

Kiguchi¹,

Yokomine

2014

2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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A power-assist exoskeleton is expected to help the motion of physically weak person in daily living. The power-assist exoskeleton can be applicable to a stroke survivor also, though the motion intention of the paralyzed limb is difficult to be estimated. This paper proposes a control method of the lower-limb power-assist for a stroke survivor. In the proposed method, the lower-limb motion of the abled side of the user is copied as the desired motion of the paralyzed side. Then the desired lower-limb motion of the paralyzed side is generated by the lower-limb power-assist exoskeleton robot. ZMP is taken into account to avoid the unexpected falling. The effectiveness of the proposed method was evaluated by performing the experiments.

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Section: Walking Assistmentioning

confidence: 99%

Walking assist for a stroke survivor with a power-assist exoskeleton

Kiguchi¹,

Yokomine

2014

2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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“…Despite the efforts to produce stable and feasible walking trajectories, there is high possibility that these walking trajectories are still not energy efficient. According to Nakamura, his research on human walking showed a SwG pattern that minimizes energy consumption (4) . Therefore, a minimal energy SwG trajectory for a biped walking could exist and need further research on this.…”

Section: Introductionmentioning

confidence: 99%

Generation of Minimal Energy Joint Trajectories during Single Support Phase for 3-dimensional Bipedal Walking

2013

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This paper introduces a method to generate minimal energy joint trajectories during a single support phase of linear inverted pendulum model (LIPM)-based biped walking. By using a variational approach and B-spline curves, this method is able to generate new set of joint configurations. This joint set minimizes the cost function which reduces the energy consumption while keeping the center of mass almost at the same position in x-, y-and z-directions. Constraining the center of mass to be the same during minimization helps in conserving the zero moment point (ZMP) of the predefined walking trajectory. The energy consumption function is represented by the actuator's electrical energy which consists of copper loss and mechanical energy. From the simulation results, it is verified that the proposed method is effective.

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“…A number of researchers [6][7][8][9] have investigated the gait of biped robots based on human kinematics data, and a very good study of the kinematics of a human body was done by Winter [10].…”

Section: Introductionmentioning

confidence: 99%

ZMP trajectory reference for the sagittal plane control of a biped robot based on a human CoP and gait

Crisóstomo

Coimbra

Ferreira³

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) trajectory reference for the sagittal plane balance control of an autonomous walking biped robot with an human-like gait.ZMP trajectory reference generation is very important in the design and balance control of the walking of a biped robot.ZMP reference generation algorithms based on the Linear Inverted Pendulum Model (LIPM) and moving ZMP references in the swing phase have already been proposed with the ZMP trajectory during the swing phase being designed moving along a symmetric trajectory relative to the center of the foot. It was verified experimentally that in the human gait the ZMP trajectory moves along the foot in a way that it is shifted forward relative to its center. To take this into account a shift parameter is then proposed to move forward the X ZMP trajectory reference during the swing phase. It was also verified experimentally that in the human gait the ZMP trajectory amplitude depends on the swing time. Its variation law has been determined experimentally and it was verified that this range decreases as the swing time increases, reducing to zero for a static gait. It is then proposed a parameter H to take into account this variation with the swing time of the gait.Six experiments were carried out for three different X ZMP trajectory references. In order to evaluate and compare the performance of the biped robot using the three X ZMP trajectory references two performance indexes are proposed.Index terms − biped robot, balance, ZMP trajectory reference, static gait, dynamic gait, human-like biped gait.978-1-4244-3804-4/09/$25.00 ©2009 IEEE

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Trajectory planning for a leg swing during human walking

Cited by 17 publications

References 27 publications

Walking assist for a stroke survivor with a power-assist exoskeleton

Walking assist for a stroke survivor with a power-assist exoskeleton

Generation of Minimal Energy Joint Trajectories during Single Support Phase for 3-dimensional Bipedal Walking

ZMP trajectory reference for the sagittal plane control of a biped robot based on a human CoP and gait

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