NDLI: Stretch-legged walking in sagittal plane

Content Provider	IEEE Xplore Digital Library
Author	Min-su Kim Ill-Woo Park Jung-Yup Kim Jun-ho Oh
Copyright Year	2007
Description	Author affiliation: Dept. of Mech. Eng., KAIST (Korea Adv. Inst. of Sci. & Technol.), Daejeon (Min-su Kim; Ill-Woo Park; Jung-Yup Kim; Jun-ho Oh)
Abstract	This paper presents a new forward walking pattern known as stretch-legged walking. Additionally, what has been termed the Walking Guide Platform (WGP) was developed to verify the developed walking pattern. For the WGP, a robot that can move in a sagittal plane was created. Next, a guide system and treadmill were developed. Those systems minimize disturbances from other motions except the sagittal plane motion. The proposed walking pattern is divided into walking on the spot and forward walking. These are generated by solving inverse kinematics involving the addition of reference angles of the hip and ankle joints. The Hip Position Ratio(HPR) and the Hip Shape Factor(HSF) were also used to stabilize the walking. These values are dependent on the walking speed. The walking stability was judged using deviation of the ZMP and the body tilt angle. By measuring the current, a comparison in terms of the energy consumption can be made between the proposed walking pattern and a walking pattern with a bending knee.
Starting Page	276
Ending Page	281
File Size	480309
Page Count	6
File Format	PDF
ISBN	9781424418619
DOI	10.1109/ICHR.2007.4813880
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-11-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Energy consumption Shape Stability Hip Position Ratio Energy measurement Energy Consumption stretch-legged walking Hip Walking Guide Platform Current measurement Goniometers Hip Shape Factor Kinematics ZMP Robots
Content Type	Text
Resource Type	Article

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