Human walking capture and its inspiration to biped gait planning

摘要

Existing approaches to biped gait generation always need to assume appropriate parameter conditions of the walking patterns. To accomplish this, this paper aims to experimentally investigate the characteristics of the human walking, and reveal, to some extent, its balance strategies. The experimental study was carried out on a self-designed human walking testing platform, which captures the joint kinematics data and the ground reaction force data. Based on the testings results, a parametric human gait database of multi walking patterns was constructed. Analyses based on this database was given and discussed, part of which has been implemented in prototype design and gait planning of biped robots. Compared to similar studies based on complicated commercial testing systems, this study provides theoretical inspirations which are more pertinent and intuitionistic to gait planning for biped robots.