What is it about?
This article presents a method for motion control with forward dynamics model and ground reaction forces as the reference values.
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Why is it important?
A MATLAB/Simulink framework is used for testing the proposed synthesis of bipedal locomotion. The ground reaction forces recorded during the walk with different footwear are applied as the references. The obtained motion patterns and postures are compared with those of the human. Obtained results were satisfactory and justified the proposed approach. This work also provides novel insights on how joint trajectories, needed torques and trunk position of a biped have to be adjusted depending on the robot foot in order to achieve human-like walking.
Perspectives
we propose the method for motion synthesis using forward dynamics model and GRF trajectories. The validation of the method is made by testing it on how the body posture is properly adjusted to maintain human-like walking. For that purpose, we have considered the gaits with different footwear (what obviously affects the posture).
Ramamoorthy Luxman
Nanyang Technological University
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This page is a summary of: Robot motion synthesis using ground reaction forces pattern, International Journal of Advanced Robotic Systems, July 2017, SAGE Publications,
DOI: 10.1177/1729881417720873.
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