标题：Kinematics analysis of biped robot based on toddler's natural gait extraction
作者：Qin, Zhang ;Hui, Chai ;Yibin, Li ;Yueyang, Li
作者机构：[Qin, Zhang ;Yueyang, Li ] School of Electrical Engineering, University of Jinan, Jinan; 250022, China;[Qin, Zhang ;Hui, Chai ;Yibin, Li ] School of C 更多
会议名称：2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
会议日期：27 August 2017 through 31 August 2017
来源：2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
关键词：Gait Extraction; Kinect; Kinematics Analysis; Motion Smoothing; Toddler
摘要：Focusing on the acquisition difficulties of toddler's walking gait, a Kinect-based natural gait extraction approach is proposed. The toddler's walking data of 17-25 months is acquired directly by Kinect, then the motion smoothing and curve fitting of bone length is utilized to realize the filtering of the bone data. The temporal-spatial gait parameters of different months are acquired by fitting the foot trajectory of walking toddler. In order to apply the formation law of toddler's gait into the gait planning of biped robot, the forward and inverse kinematics of human lower limbs are computed to obtain the change of joint angles. The feasibility and effectiveness of the proposed method is verified by the experimental results. © 2017 IEEE.