Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid Robot
A 8-DOF exoskeleton walking aid robot is designed,which can complete the walking motion in the sagittal plane. And the center of gravity can transfer in the frontal plane during walking through the transfer module of the foot center of gravity. The analysis of kinematics modeling is carried on to so...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.01.011 |
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| _version_ | 1841547773822894080 |
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| author | Yi Zikai Li Juan Li Weida Hu Haiyan Li Chunguang |
| author_facet | Yi Zikai Li Juan Li Weida Hu Haiyan Li Chunguang |
| author_sort | Yi Zikai |
| collection | DOAJ |
| description | A 8-DOF exoskeleton walking aid robot is designed,which can complete the walking motion in the sagittal plane. And the center of gravity can transfer in the frontal plane during walking through the transfer module of the foot center of gravity. The analysis of kinematics modeling is carried on to solve the relationship between the joint angle and the center of gravity of trajectory. Based on the theory of focus projection method,a gait planning method is proposed for the statically stable walking of the robot based on the gravity center track. The joint trajectory is solved and stability margin is verified through MATLAB simulation. The simulation results show the exoskeleton robot can walk with static stability. |
| format | Article |
| id | doaj-art-b972e3224ecb4976a31c858415da6189 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b972e3224ecb4976a31c858415da61892025-01-10T14:19:39ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140485329921993Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid RobotYi ZikaiLi JuanLi WeidaHu HaiyanLi ChunguangA 8-DOF exoskeleton walking aid robot is designed,which can complete the walking motion in the sagittal plane. And the center of gravity can transfer in the frontal plane during walking through the transfer module of the foot center of gravity. The analysis of kinematics modeling is carried on to solve the relationship between the joint angle and the center of gravity of trajectory. Based on the theory of focus projection method,a gait planning method is proposed for the statically stable walking of the robot based on the gravity center track. The joint trajectory is solved and stability margin is verified through MATLAB simulation. The simulation results show the exoskeleton robot can walk with static stability.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.01.011Exoskeleton robotConfiguration designGait planningStatic stability |
| spellingShingle | Yi Zikai Li Juan Li Weida Hu Haiyan Li Chunguang Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid Robot Jixie chuandong Exoskeleton robot Configuration design Gait planning Static stability |
| title | Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid Robot |
| title_full | Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid Robot |
| title_fullStr | Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid Robot |
| title_full_unstemmed | Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid Robot |
| title_short | Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid Robot |
| title_sort | statically stable walking gait planning of a kind of exoskeleton walking aid robot |
| topic | Exoskeleton robot Configuration design Gait planning Static stability |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.01.011 |
| work_keys_str_mv | AT yizikai staticallystablewalkinggaitplanningofakindofexoskeletonwalkingaidrobot AT lijuan staticallystablewalkinggaitplanningofakindofexoskeletonwalkingaidrobot AT liweida staticallystablewalkinggaitplanningofakindofexoskeletonwalkingaidrobot AT huhaiyan staticallystablewalkinggaitplanningofakindofexoskeletonwalkingaidrobot AT lichunguang staticallystablewalkinggaitplanningofakindofexoskeletonwalkingaidrobot |