How dynamic is dynamic walking? Human vs. robotic gait

Carlotta Mummolo, Joo H. Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

For design and control of biped walking robots, it is important to quantify the different level of dynamicity. We propose the Dynamic Gait Measure (DGM) that quantifies the dynamicity of a given biped walking motion. The DGM is associated with the gait stability, and quantifies the effects of inertia in terms of the Zero-Moment Point (ZMP) and the ground projection of center of mass (GCOM). Also, DGM takes into account the stance foot dimension and the relative threshold between static and dynamic walking. Human-like and robotic walking motions are generated for a planar biped system from an optimization problem. The resulting DGMs demonstrate their dependence on the stance foot dimension as well as the walking motion. The DGM results verify the dynamic nature of normal human walking. For a given gait motion, smaller foot dimension results in increased dynamicity. Moreover, the DGMs for normal human walking are greater than those for robotic walking. The proposed results will benefit the development of walking robots.

Original languageEnglish (US)
Title of host publicationASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Pages1159-1165
Number of pages7
EditionPARTS A AND B
DOIs
StatePublished - 2011
EventASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC, United States
Duration: Aug 28 2011Aug 31 2011

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume6

Other

OtherASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
CountryUnited States
CityWashington, DC
Period8/28/118/31/11

Keywords

  • Biped system
  • Dynamic Gait Measure (DGM)
  • Dynamic walking
  • Optimization
  • Passivity weight
  • Stability
  • Static walking
  • Zero-Moment Point (ZMP)

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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