Dynamic Walking Planning for Gait Rehabilitation robot
This paper presents a method for walking planning of rehabilitation robot. Firstly, the simple model of four-links robot walking on the treadmill is introduced. Then, the constraints of swing limb tip and hip motion are formulated in terms of coherent physical characteristics of gait and the compatible hip and swing limb tip trajectories are generated by cubic polynomial interpolation. By varying the values of the constraint parameters, it is easy to produce different motion trajectory. Finally, the joint angle profiles are computed according to hip and limb tip trajectories. The effectiveness of the proposed method is confirmed by computer simulation examples and experimental results.
rehabilitation robot gait planning cubic ploynomial interpolation dynamic walking
Zhiguo Feng Jinwu Qian Yanan Zhang Linyong Shen Zhen Zhang Qiyuan Wang
School of Mechatronics Engineering and Automation Shanghai University Shanghai,China
国际会议
上海
英文
1280-1283
2008-05-16（万方平台首次上网日期，不代表论文的发表时间）