MEASUREMENT OF WALKING GAIT FOR 3D PASSIVE DYNAMIC BIPED WALKER

T. Ito, T. Kinugasa, T. Akagi, S. Fujimoto, K. Yoshida, M. Iribe

Abstract

Passive dynamic bipedal walking (PDW) is an attractive topic not only for robotics field but also the other scientific fields, i.e. physics and biology. In order to clarify its mechanism of walking, many researchers have developed various PDW machines. We also have developed several 3-D PDW with flat feet and ankle springs. However there are no researches on the measurement of 3-D PDW gait, which reveals its mechanism precisely. This paper, therefore, describes measurement of walking gait of 3-D PDW such as zero moment point (ZMP) and its posture which are often measured for human gait analysis. A unique flexible displacement sensor and a usual 6 axes force sensor are utilized for the measurement. As a result, ZMP trajectory draws ‘8’ shape pattern, which is similar to that of human. Moreover the measurement system clarified the relationship between walking gait and ballast position which is effective for stabilization.

Keywords

passive dynamic walking, gait measurement, flexible displacement sensor, zero moment point

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DOI

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IMEKO TC

TC17 - Measurement in Robotics

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