Simultaneous locomotion of biped robot with the transmission of human motion

Abstract

This paper proposes a novel, simultaneous bipedal locomotion method with the use of human skill of walking, to increase the performance of walking of the biped robot. Traditional walking methods require high computational power and advanced controllers to realize bipedal walking. In this proposed method, an exoskeleton attached to the human's lower body is used to obtain the joint information and the obtained joint information is then replicated on a biped robot in real time. The lateral motion of the center of mass of the biped is constrained in this experiment and is not discussed in this paper. Since a direct motion transmission is used in the proposal, this method is quite straight forward and a simultaneous walking can be realized at the same time with a high performance. Also, it doesn't require any dynamic model of the biped or specific trajectory planning method. The gait of the biped is directly determined by that of the human. Therefore, this method can copy the motion of human walking to a biped. Results obtained from the experiments validate the proposed method.