Study of human walking patterns based on the parameter optimization of a passive dynamic walking robot
Abstract
BACKGROUND:
The study of human walking patterns mainly focuses on how control affects walking because control schemes are considered to be dominant in human walking.
OBJECTIVE:
This study proposes that not only fine control schemes but also optimized body segment parameters are responsible for humans' low-energy walking.
METHODS:
A passive dynamic walker provides the possibility of analyzing the effect of parameters on walking efficiency because of its ability to walk without any control. Thus, a passive dynamic walking model with a relatively human-like structure was built, and a parameter optimization process based on the gait sensitivity norm was implemented to determine the optimal mechanical parameters by numerical simulation.
RESULTS:
The results were close to human body parameters, thus indicating that humans can walk under a passive pattern based on their body segment parameters. A quasi-passive walking prototype was built on the basis of the optimization results. Experiments showed that a passive robot with optimized parameters could walk on level ground with only a simple hip actuation.
CONCLUSION:
This result implies that humans can walk under a passive pattern based on their body segment parameters with only simple control strategy implying that humans can opt to walk instinctively under a passive pattern.
References
[1] | Kautz S A, , Bowden M G, , Clark D J, et al., Comparison of motor control deficits during treadmill and overground walking poststroke[J], Neurorehabilitation and neural repair, (2011) , 25: (8): 756-765. |
[2] | Paul J P, History and fundamentals of gait analysis, Bio-medical materials and engineering, (1999) , Vol. 8: (3-4), pp. 123-35. |
[3] | Sun Q., , Ma R., , Hu F., and Hao Q., Space Encoding Based Human Activity Modeling and Situation Perception, In Proceeding of 2013 IEEE International Multi-Disciplinary Conference on Cognitive Methods in Situation Awareness and Decision Support, (2013) , pp. 186-189. |
[4] | Anderson F C, , Pandy M G, Dynamic optimization of human walking[J], Journal of biomechanical engineering, (2001) , 123: (5): 381-390. |
[5] | Sakagami Y., , Watanabe R., , Aoyama C., , Matsunaga S., , Higaki N., , Fujimura K., The Intelligent Asimo: System Overview and Integration, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, (2002) : 2478-2483. |
[6] | Collins S H, , Ruina A, A bipedal walking robot with efficient and human-like gait[C]//Robotics and Automation, 2005, ICRA 2005, Proceedings of the 2005 IEEE International Conference on, IEEE, (2005) : 1983-1988. |
[7] | Vukobratovic M., , Borovac B., Zero-Moment Point-Thirty Five Years of Its Life, Int J Hum Robot, (2004) , 1: (1): 157-173. |
[8] | McGeer T., Passive Dynamic Walking, International Journal of Robotics Research, (1990) , 9: (2): 62-82. |
[9] | Wisse M, , Hobbelen D G E, , Schwab A L, Adding an upper body to passive dynamic walking robots by means of a bisecting hip mechanism[J], Robotics, IEEE Transactions on, (2007) , 23: (1): 112-123. |
[10] | Hobbelen D G E, , Wisse M, A disturbance rejection measure for limit cycle walkers: The gait sensitivity norm[J], Robotics, IEEE Transactions on, (2007) , 23: (6): 1213-1224. |
[11] | Wells J P, , DeMenthon D F, Measurement of body segment mass, center of gravity, and determination of moments of inertia by double pendulum in Lemur fulvus[J], American Journal of Primatology, (1987) , 12: (3): 299-308. |
[12] | Pratt G A, , Williamson M M, Series elastic actuators[C]//Intelligent Robots and Systems 95. Human Robot Interaction and Cooperative Robots, Proceedings. 1995 IEEE/RSJ International Conference on. IEEE, (1995) , 1: : 399-406. |
[13] | Li J, , Ji Z, , Shi X, et al., Design and optimization of multi-class series-parallel linear electromagnetic array artificial muscle[J], Bio-medical materials and engineering, (2014) , 24: (1): 549-555. |
[14] | Ralston H J, Energetics of Human Walking, in: Neural Control of Locomotion, R.M. Herman et al., eds, Plenum Press, New York, (1976) , pp. 77-98. |