NDLI: Outputs of human walking for bipedal robotic controller design

Content Provider	IEEE Xplore Digital Library
Author	Shu Jiang Partrick, S. Huihua Zhao Ames, A.D.
Copyright Year	2012
Description	Author affiliation: Dept. of Biomed. Eng., Texas A&M Univ., College Station, TX, USA (Partrick, S.) \|\| Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA (Shu Jiang; Huihua Zhao; Ames, A.D.)
Abstract	This paper presents a method to determine outputs associated with human walking data that can be used to design controllers that achieve human-like robotic walking. We consider a collection of human outputs, i.e., functions of the kinematics computed from experimental human data, that satisfy criteria necessary for human-inspired bipedal robot control construction. These human outputs are described in a form amendable to controller design through a special class of time based functions - termed canonical walking functions. An optimization problem is presented to determine the parameters of this controller that yields the best fit to the human data that simultaneously produces stable robotic walking. The optimal value of the cost function is used as a metric to determine which human outputs result in the most “human-like” robotic walking. The human-like nature of the resulting robotic walking is verified through simulation.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	4843
Ending Page	4848
File Size	252205
Page Count	6
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6315648
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Legged locomotion Humans Hip Optimization Kinematics Knee
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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