Experimental analysis for passive and dynamic gait measures of biped walking

Carlotta Mummolo, Luigi Mangialardi, Joo Hyun Kim

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

Abstract

Normal human gait, described as passive dynamic walking, is neither completely passive nor always dynamic. In this article, we introduce the formulations of Passive Gait Measure (PGM) and Dynamic Gait Measure (DGM) that quantify passivity and dynamicity levels, respectively, of a given biped walking motion. The proposed concepts will be demonstrated through the analysis of human walking experimental data. The PGM measures the relative actuation contribution of the pivot joint of stance leg in the inverted pendulum analogy. The DGM, associated with gait stability, quantifies the effects of inertia in terms of the Zero-Moment Point (ZMP) and the ground projection of center of mass (GCOM). Human walking motion during single and double support phases is reconstructed from raw experimental data, and ZMP and GCOM trajectories during one full step cycle are generated. The calculated PGM values show the passive nature of human walking when the inverted pendulum analogy is adopted. The DGM results verify the dynamic nature of human walking demonstrating their dependence on the walking motion as well as the step phase; the double support phase results a static motion, opposite to the highly dynamic single support phase. The results will benefit the human gait studies and the development of walking robots.

Original languageEnglish (US)
Title of host publicationASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Pages25-32
Number of pages8
Volume2
DOIs
StatePublished - 2012
EventASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 - Fort Lauderdale, FL, United States
Duration: Oct 17 2012Oct 19 2012

Other

OtherASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
CountryUnited States
CityFort Lauderdale, FL
Period10/17/1210/19/12

Fingerprint

Pendulums
Trajectories
Robots

Keywords

  • Biped system
  • Dynamic Gait Measure (DGM)
  • Optimization
  • Passive dynamic walking
  • Passive Gait Measure (PGM)
  • Zero-Moment Point (ZMP)

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Mummolo, C., Mangialardi, L., & Kim, J. H. (2012). Experimental analysis for passive and dynamic gait measures of biped walking. In ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 (Vol. 2, pp. 25-32) https://doi.org/10.1115/DSCC2012-MOVIC2012-8673

Experimental analysis for passive and dynamic gait measures of biped walking. / Mummolo, Carlotta; Mangialardi, Luigi; Kim, Joo Hyun.

ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012. Vol. 2 2012. p. 25-32.

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

Mummolo, C, Mangialardi, L & Kim, JH 2012, Experimental analysis for passive and dynamic gait measures of biped walking. in ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012. vol. 2, pp. 25-32, ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012, Fort Lauderdale, FL, United States, 10/17/12. https://doi.org/10.1115/DSCC2012-MOVIC2012-8673
Mummolo C, Mangialardi L, Kim JH. Experimental analysis for passive and dynamic gait measures of biped walking. In ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012. Vol. 2. 2012. p. 25-32 https://doi.org/10.1115/DSCC2012-MOVIC2012-8673
Mummolo, Carlotta ; Mangialardi, Luigi ; Kim, Joo Hyun. / Experimental analysis for passive and dynamic gait measures of biped walking. ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012. Vol. 2 2012. pp. 25-32
@inproceedings{82bfa1aaff484cba839967bc5ce3eae2,
title = "Experimental analysis for passive and dynamic gait measures of biped walking",
abstract = "Normal human gait, described as passive dynamic walking, is neither completely passive nor always dynamic. In this article, we introduce the formulations of Passive Gait Measure (PGM) and Dynamic Gait Measure (DGM) that quantify passivity and dynamicity levels, respectively, of a given biped walking motion. The proposed concepts will be demonstrated through the analysis of human walking experimental data. The PGM measures the relative actuation contribution of the pivot joint of stance leg in the inverted pendulum analogy. The DGM, associated with gait stability, quantifies the effects of inertia in terms of the Zero-Moment Point (ZMP) and the ground projection of center of mass (GCOM). Human walking motion during single and double support phases is reconstructed from raw experimental data, and ZMP and GCOM trajectories during one full step cycle are generated. The calculated PGM values show the passive nature of human walking when the inverted pendulum analogy is adopted. The DGM results verify the dynamic nature of human walking demonstrating their dependence on the walking motion as well as the step phase; the double support phase results a static motion, opposite to the highly dynamic single support phase. The results will benefit the human gait studies and the development of walking robots.",
keywords = "Biped system, Dynamic Gait Measure (DGM), Optimization, Passive dynamic walking, Passive Gait Measure (PGM), Zero-Moment Point (ZMP)",
author = "Carlotta Mummolo and Luigi Mangialardi and Kim, {Joo Hyun}",
year = "2012",
doi = "10.1115/DSCC2012-MOVIC2012-8673",
language = "English (US)",
isbn = "9780791845301",
volume = "2",
pages = "25--32",
booktitle = "ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012",

}

TY - GEN

T1 - Experimental analysis for passive and dynamic gait measures of biped walking

AU - Mummolo, Carlotta

AU - Mangialardi, Luigi

AU - Kim, Joo Hyun

PY - 2012

Y1 - 2012

N2 - Normal human gait, described as passive dynamic walking, is neither completely passive nor always dynamic. In this article, we introduce the formulations of Passive Gait Measure (PGM) and Dynamic Gait Measure (DGM) that quantify passivity and dynamicity levels, respectively, of a given biped walking motion. The proposed concepts will be demonstrated through the analysis of human walking experimental data. The PGM measures the relative actuation contribution of the pivot joint of stance leg in the inverted pendulum analogy. The DGM, associated with gait stability, quantifies the effects of inertia in terms of the Zero-Moment Point (ZMP) and the ground projection of center of mass (GCOM). Human walking motion during single and double support phases is reconstructed from raw experimental data, and ZMP and GCOM trajectories during one full step cycle are generated. The calculated PGM values show the passive nature of human walking when the inverted pendulum analogy is adopted. The DGM results verify the dynamic nature of human walking demonstrating their dependence on the walking motion as well as the step phase; the double support phase results a static motion, opposite to the highly dynamic single support phase. The results will benefit the human gait studies and the development of walking robots.

AB - Normal human gait, described as passive dynamic walking, is neither completely passive nor always dynamic. In this article, we introduce the formulations of Passive Gait Measure (PGM) and Dynamic Gait Measure (DGM) that quantify passivity and dynamicity levels, respectively, of a given biped walking motion. The proposed concepts will be demonstrated through the analysis of human walking experimental data. The PGM measures the relative actuation contribution of the pivot joint of stance leg in the inverted pendulum analogy. The DGM, associated with gait stability, quantifies the effects of inertia in terms of the Zero-Moment Point (ZMP) and the ground projection of center of mass (GCOM). Human walking motion during single and double support phases is reconstructed from raw experimental data, and ZMP and GCOM trajectories during one full step cycle are generated. The calculated PGM values show the passive nature of human walking when the inverted pendulum analogy is adopted. The DGM results verify the dynamic nature of human walking demonstrating their dependence on the walking motion as well as the step phase; the double support phase results a static motion, opposite to the highly dynamic single support phase. The results will benefit the human gait studies and the development of walking robots.

KW - Biped system

KW - Dynamic Gait Measure (DGM)

KW - Optimization

KW - Passive dynamic walking

KW - Passive Gait Measure (PGM)

KW - Zero-Moment Point (ZMP)

UR - http://www.scopus.com/inward/record.url?scp=84885921890&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84885921890&partnerID=8YFLogxK

U2 - 10.1115/DSCC2012-MOVIC2012-8673

DO - 10.1115/DSCC2012-MOVIC2012-8673

M3 - Conference contribution

AN - SCOPUS:84885921890

SN - 9780791845301

VL - 2

SP - 25

EP - 32

BT - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012

ER -