NDLI: Momentum compensation for fast dynamic walking of humanoids based on pelvic rotation of contact sport athletes

Content Provider	IEEE Xplore Digital Library
Author	Jun Ueda Shirase, K. Matsumoto, Y. Oda, S. Ogasawa, T.
Copyright Year	2004
Description	Author affiliation: Laboratory of Human Motor Control, Graduate School of Human and Environmental Studies, Kyoto University, Sakyo-ku, Kyoto 606-8501, Japan (Oda, S.) \|\| Robotics Laboratory, Graduate School of Information Science, Nora Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nora 630-O192, Japan (Jun Ueda; Matsumoto, Y.; Ogasawa, T.) \|\| Honda Motor Co. Ltd. (Shirase, K.)
Abstract	This paper presents a method of momentum compensation around the perpendicular axis during fast dynamic waking of humanoid robots. In order to perform a task using the arms during a walk, it is desirable that the upper body part, i.e., the arms and the trunk, should not be used for the momentum compensation and should be dedicated to the task. In this paper, a particular walk called trunk-twistless walk is investigated which is experientially acquired by contact sport athletes. An antiphase rotation of the pelvis against the swing leg is observed compared to a normal walk. This Characteristic of the pelvic rotation is implemented to a humanoid. A method of determining the rotation of the humanoid's waist is proposed coupling with the pitch angle of the swing leg. The proposed walk achieves the whole walking motion including the momentum compensation only by the lower body. It is confirmed that the stance foot torque around the perpendicular axis is reduced compared to a standard humanoid walk without twisting the trunk OF swinging the arms. The improvements on the straightness of the walking trajectory and the stability of the upper body during a fast dynamic walk are also confirmed.
Sponsorship	IEEE Robotics and Autom. Soc., Robotics Soc. of Japan
Starting Page	592
Ending Page	607
File Size	1570993
Page Count	16
File Format	PDF
ISBN	0780388631
DOI	10.1109/ICHR.2004.1442673
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-11-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Torque Fluctuations Laboratories Humans Humanoid robots Trunk-twisting Athlete Leg Foot Humanoid robot Information science Riction Momentum compensation Motion capture Biped walking Arm
Content Type	Text
Resource Type	Article

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