NDLI: Humanoid Gait Optimization Based on Human Data

Please wait, while we are loading the content...

Humanoid Gait Optimization Based on Human Data

Content Provider	Taylor & Francis Online
Author	Bennewitz, Maren Wehner, Sven
Abstract	Achieving a stable, human-like gait for humanoid robots is a challenging task. While a variety of techniques exist to generate stable walking patterns, only little attention has been paid to the resemblance to the human gait. Popular gaits, for example, apply the strategy to bend the knees and to swing the torso in the lateral direction in order to ensure stability by shifting the center of mass. As a result, the walking patterns do not look very humanlike. However, human resemblance is an important aspect whenever robots are designed to coexist and interact with humans. In this article, we present techniques to optimize a given, stable gait of a humanoid robot with respect to human resemblance. To acquire human data, we use a full-body motion capture system. We propose four different optimization algorithms that work at joint angle basis and use the joint angle difference as measure of similarity. The experiments carried out with a HOAP-2 robot in simulation demonstrate that all techniques generate a gait that is significantly more human-like compared to the robot's initial gate. As the results show, the optimization methods based on hill climbing and policy gradient estimation yield the best performance.
Starting Page	223
Ending Page	232
Page Count	10
File Format	PDF HTM / HTML
ISSN	00051144 18483380
DOI	10.1080/00051144.2011.11828421
Journal	Automatika
Volume Number	52
Issue Number	3
Language	English
Publisher	Taylor & Francis
Publisher Date	2017-01-18
Access Restriction	Open
Subject Keyword	Humanoid robots Gait optimization Human-like walking Čovjekoliki roboti Optimizacija držanja Čovjekoliko hodanje
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Optimized Humanoid Walking with Soft Soles

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Biped gait generation and control based on a unified property of passive dynamic walking

Human-Like Walking: Optimal Motion of a Bipedal Robot With Toe-Rotation Motion

A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control

Comments on An Optimality Principle Governing Human Walking

Periodic walking motion of a Humanoid robot based on human data

An essential model for generating walking motions for humanoid robots

Partial Human Data in Design of Human-Like Walking Control in Humanoid Robotics

Humanoid Gait Optimization Based on Human Data

Similar Documents

Optimized Humanoid Walking with Soft Soles

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Biped gait generation and control based on a unified property of passive dynamic walking

Human-Like Walking: Optimal Motion of a Bipedal Robot With Toe-Rotation Motion

A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control

Comments on An Optimality Principle Governing Human Walking

Periodic walking motion of a Humanoid robot based on human data

An essential model for generating walking motions for humanoid robots

Partial Human Data in Design of Human-Like Walking Control in Humanoid Robotics

Humanoid Gait Optimization Based on Human Data