Design of Vector Field for Different Subphases of Gait and Regeneration of Gait Pattern

摘要

In this paper, we have designed the vector fields (VFs) for all the six joints (hip, knee, and ankle) of a bipedal walking model. The bipedal gait is the manifestation of temporal changes in the six joints angles, two each for hip, knee, and ankle values and it is a combination of seven different discrete subphases. Developing the correct joint trajectories for all the six joints was difficult from a purely mechanics-based model due to its inherent complexities. To get the correct and exact joint trajectories, it is very essential for a modern bipedal robot to walk stably. By designing the VF correctly, we are able to get the stable joint trajectory ranges and able to reproduce angle ranges from theses designed VFs. This is purely a data driven computational modeling approach, which is based on the hypothesis that morphologically similar structure (human-robot) can adopt similar gait patterns. To validate the correctness of the design, we have applied all the possible combination of joint trajectories to HOAP-2 bipedal robot, which could walk successfully maintaining its stability. The VF provides joint trajectories for a particular joint. The results show that our data driven computational model is able to provide the correct joints angle ranges, which are stable.