Measurement of human walking and generation of humanoid walking pattern

摘要

Walking pattern generation has been a crucial issue for humanoid robot. To generate more natural walking patterns, and determine parameters more reasonably, this paper presents a method of walking pattern generation for humanoid based on human walking characteristics. The characteristics of human walking parameters were obtained by capturing and analyzing human walking data. Walking pattern parameters are determined using these characteristics, and then stable and harmonious walking patterns are generated. The effectiveness of the method was improved by experiment result on humanoid robot BHR-2.