Trajectory planning for all sub phases of gait cycle for human-like walking. (2nd February 2010)

• Record Type: Journal Article
• Authors: Rai, J.K.; Tewari, R.P.; Chandra, Dinesh
• Is Part Of: International journal of engineering systems modelling and simulation. Volume 1:Number 4(2009)
• Page Start: 206
• Page End: 210
• Publication Date: 2010-02-02
• Subjects: biped robots -- walking robots -- robot locomotion -- cubic spline -- flexion angles -- gait cycles -- trajectory planning -- human-like walking -- smooth walking -- joint velocity; Engineering systems -- Computer simulation -- Periodicals; Engineering systems -- Mathematical models -- Periodicals; 620.0042
• Languages: English
• ISSNs: 1755-9758

Abstract

This paper presents a cubic spline trajectory for all phases of gait cycle to achieve smooth human-like walking. We first characterise the human walking cycle into various sub-phases. A biped robot having seven links and six revolute joints has active hip, knee and ankle joints of both legs for human legs like appearance and walking performance. A mathematical cubic spline is developed for each phase of gait cycle. It uses the experimental flexion angle and velocity data of three joint movements i.e., hip, knee and ankle. The desired trajectory is developed as in case of normal human walking. The proposed trajectory has a standard deviation of less than 1°.