Measurement and comparison of human and humanoid walking

Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA

Volumn 2, Issue , 2003, Pages 918-922

  Kagami, Satoshi ^a,b   Mochimaru, Masaaki ^a,b   Ehara, Yoshihiro ^c   Miyata, Natsuki ^a,b   Nishiwaki, Koichi ^d   Kanade, Takeo ^a,b,e   Inoue, Hirochika ^d  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

^c TEIKYO UNIVERSITY   (Japan)

^d UNIVERSITY OF TOKYO   (Japan)

^e CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ANTHROPOMORPHIC ROBOTS; ARTIFICIAL INTELLIGENCE; AUTOMATION;

DISTRIBUTED FORCES; FORCE PLATE; HUMANOID ROBOT; HUMANOID WALKING; JOINT TORQUES; MOTION CAPTURE SYSTEM; RESEARCH EFFORTS; ZMP TRAJECTORY;

ROBOTICS;

EID: 64949152514     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CIRA.2003.1222302     Document Type: Conference Paper

References (16)

1. Rodney A. Brooks. Prospects for human level intelligence for humanoid robots. In Proc. of the First Int. Symp. on H Umanoid RObots (HURO '96), pages 17-24, 1996.
2. Kazuo HIRAI. Current and Future Perspective of Honda Humanoid Robot. In Proc. of 1997 IEEE Intl. Conf. on Intelligent Robots and Systems (IROS'97), pages 500-508, 1997.
3. S. KAGAMI, F. KANEHIRO, Y. TAMIYA, M. IN-ABA, and H. INOUE. Autobalances An online dynamic balance compensation scheme for humanoid robots. In Proc. of Fourth Intl. Workshop on Algorithmic Foundations on Robotics (WAFR'00), pages SA-79-SA-89, 2000.
4. S. Kagami, K. Nishiwaki, J. J. Kuffner, Y. Kuniyoshi, M. Inaba, and H. Inoue. Design and implementation of software research platform for humanoid robotics: H7. In Proceedings of the 2001 IEEE-RAS International Conference on Humanoid Robots, pages 253-258, 10 2001.
5. S. Kagami, K. Nishiwaki, J.J. Kuffner, K. Okada, M. Inaba, and H. Inoue. Low-level autonomy of remote operated humanoid robot h6 & h7. In Preprint of 10th International Symposium of Robotics Research, Victoria, Australia, 2001.
6. K. Kawamura, D. M. Wiles, T. Pack, M. Bishay, and J. Barile. Humanoids: Future robots for home and factory. In Proc. of the First Int. Symp. on HUmanoid RObots (HURO '96), pages 53-62, 1996.
7. Y. Murase, K. Sakai, M. Inaba, and H. Inoue. Testbed hardware model of the hrp virtual platform. In Proc. of '98 Annual Symposium of Robotics-Mechatronics, pages 2P2-89-091, 1998.
8. K. Nagasaka, M. Inaba, and H. Inoue. Walking Pattern Generation for a Humanoid Robot based on Optimal Gradient Method. In Proc. of 1999 IEEE Int. Conf. on Systems, Man, and Cybernetics No. VI, 1999.
9. Ken'ichirou NAGASAKA, Masayuki INABA, and Hirochika INOUE. Research on human-based genetic motion acquisition for humanoid. In Proc. of the 16th Annual Conf. of Robotics Society of Japan, pages 827-828, 1998.
10. K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue. Online Generation of Desired Walking Motion on Humanoid based on a Fast Generation Method of Motion Pattern that Follows Desired ZMP. In 19th Annual Conf. of Robotics Society of Japan (RSJ 2001), pages 985-986, 2001.
11. K. NISHIWAKI, T. SUGIHARA, S. KAGAMI, M. INABA, and H. INOUE. Online Generation of Desired Walking Pattern by Dynamically Stable Mixture and Connection of Pre-designed Motions. In 18th Annual Conf. of Robotics Society of Japan (RSJ 2000), pages 1473-1474, 2000.
12. Vukobratovic, A.A. Frank, and D. Juricic. On the Stability of Biped Locomotion. IEEE Trans, on Biomedical Engineering, 17(1):25-36, 1970.
13. W. Weber and E. Weber. Mechanik des menschlichen. Gehwerkzeuge, 1836.
14. J. Yamaguchi, A. Takanishi, and I. Kato. Development of a Biped Walking Robot Compensating for Three-Axis Moment by Trunk Motion. Journal of the Robotics Society of Japan, 11(4):581-586, 1993.
15. Jin'ichi Yamaguchi, Sadatoshi Inoue, Daisuke Nishino, and Atsuo Takanishi. Development of a bipedal humanoid robot having antagonistic driven joints and three dof trunk, in Proc. of the 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 96-101, 1998.
16. N. Yamazaki. Qualitative Evaluation of Walking Motion by using Force Plate, pages 175-185. University of Tokyo Press, 1978.