Biped robot kinematic analysis method based on toddler gait extraction

Abstract

The invention discloses a biped robot kinematic analysis method based on toddler gait extraction. The method comprises the following steps: (1) walking videos of a toddler in different months are acquired, and corresponding supporting phases, oscillating phases, uniped or biped supporting phases, a gait cycle and a step frequency are extracted; (2) based on a D-H pose conversion method, a human lower limb coordinate system is built, skeletons of thighs, lower legs and soles are regarded as connecting rods, parts driving the skeletons to move are regarded as joints connecting the connecting rods, and a corresponding D-H parameter table is solved; (3) a forward kinematic model and an inverse kinematic model of the lower limb are solved; and (4) change values of joint angles are subjected tocurve fitting to analyze the spatial characteristics of a toddler walking gait. On the basis of acquiring the toddler walking data and extracting the gait time parameters, the forward kinematic modeland the inverse kinematic model of the lower limb are deduced based on the D-H pose conversion method, a toddler gait development space parameter change law is thus acquired, and a theoretical supportcan be provided for gait planning for the biped robot.

Description

technical field [0001] The invention relates to a method for extracting walking gait parameters of a toddler based on a Kinect sensor and applying it to the kinematic modeling and analysis of the lower limbs of a biped robot, which belongs to the field of computer vision and biological feature recognition. Background technique [0002] The toddler period is an important stage in the child's development process, and independent walking marks the child's skeletal, muscular and nervous systems have reached a certain level of maturity. Compared with the walking gait of adults, the gait characteristics of toddlers change significantly. It is an important way to realize the gait optimization of biped robots to explore the development law of infant walking gait at this stage and to establish matching with the kinematic model of biped robots. However, there are obvious differences between the human body and the biped robot in terms of control principles, mass distribution, and actu...

AI Technical Summary

Problems solved by technology

However, most robots can only complete short-distance walking, and there are still deficiencies in the stability of biped gait and the gracefulness of motion completion.

[0006] In 2017, "Acta Automatica Sinica" published "Kinect-Based Extraction of Toddler's Natural Gait" on China National Knowledge Network Digital First Publishing Platform to summarize the walking gait law of toddler stage, but did not apply this method to the two parties. The application of foot robot gait planning is given in detail

Images