Embodied movement strategies for development of a core-located actuation walker

Umer Huzaifa, Crispin Bernier, Zachary Calhoun, Gerald Heddy, Colleen Kohout, Brett Libowitz, Anne Moenning, Jason Ye, Catherine Maguire, Amy Laviers

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a novel strategy for bipedal locomotion that is inspired from human movement strategy. The paper describes a novel prototype that uses an actuation scheme to shifts the center of gravity of the platform to acheive forward progress. This design is inspired by key movement primitives discussed in studies of human locomotion. In particular, the paper takes inspiration from Bartenieff Fundamentals and the Basic Six exercises and presents corresponding parameters for an actuated core structure. The paper reports on the design process of a particular platform and presents an initial simulation to verify that the design causes the desired change in center of gravity of the platform, resulting in forward movement. This design allows bipedal machine movement to be better aligned to parameters that human movement experts have used to describe locomotion and, thus, could one day better recreate human gait along multiple objectives.

Original languageEnglish (US)
Title of host publication2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
PublisherIEEE Computer Society
Pages176-181
Number of pages6
ISBN (Electronic)9781509032877
DOIs
StatePublished - Jul 26 2016
Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore
Duration: Jun 26 2016Jun 29 2016

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2016-July
ISSN (Print)2155-1774

Other

Other6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
CountrySingapore
CitySingapore
Period6/26/166/29/16

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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