3 Robot gait synthesis using the scheme of human motions skills development.pdf

Mechanism and Machine Theory 44 (2009) 541–558
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Robot gait synthesis using the scheme of human motions skills
development
Teresa Zielinska a,*, Chee-Meng Chew b, Przemyslaw Kryczka a, Tomasz Jargilo a
a Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics (WUT–IAAM), ul. Nowowiejska 24, 00–665 Warsaw, Poland
b National University of Singapore 119260, Department of Mechanical Engineering (NUS–MPE), Singapore
article info abstract
Article history: This work presents biologically inspired method of gait generation. Referring to the peri-
Received 4 October 2007 odic signals generated by biological CPG, the coupled oscillators with correction functions
Received in revised form 28 September are used to produce leg joint trajectories. The method of oscillators parameters evaluation
2008
using ic algorithm is described. The correction functions are introduced. The gait for-
Accepted 29 September 2008
mula suitable for real-time motion generation taking into account the positioning errors is
Available online 21 November 2008
given. Generated gait can be used as the basis for modifications to produce plex
motions. The problem of suitability of human gait for bipeds with body proportions differ-
ent than that in human body is discussed.
Keywords:
Bipeds Ó 2008 Elsevier Ltd. All rights reserved.
Gait generation
Humanoidal robots
1. Properties of two-legged otion – state of the art
Majority of body functions such as the heart beating, breathing, chewing, otion are periodic [7]. In human walking,
synchronized displacement of all main parts of the body is noticeable. Longitudinal and lateral rotation of the trunk, pelvis
and twist of shoulders is coordinated with the states of walking cadence (moment of foot ground touch, foot take-off, middle
stance, etc.). When the mobility of one joint is affected, it influences the m