IJERT-EMS
IJERT-EMS

Biomechanical Analysis of Human Gait for Bipedal Robotic Applications


Biomechanical Analysis of Human Gait for Bipedal Robotic Applications
Authors : Pranav Kuber, Sahil Kolhe
Publication Date: 14-07-2017

Authors

Author(s):  Pranav Kuber, Sahil Kolhe

Published in:   International Journal of Engineering Research & Technology

License:  This work is licensed under a Creative Commons Attribution 4.0 International License.

Website: www.ijert.org

Volume/Issue:   Volume. 6 - Issue. 07 , July - 2017

e-ISSN:   2278-0181

 DOI:  http://dx.doi.org/10.17577/IJERTV6IS070127

Abstract

Gait is the traversing of human leg from one point to another for the purpose of walking while expending least possible energy during the process. The human gait cycle consists of 8 different phases in which movement of the legs occur. The optimum profile of the foot trajectory for the bipedal application is selected to be cycloidal and a gait generation model is used for the estimation of co-ordinates of points across the pattern. The joint angles can be determined using the method of Inverse Kinematics. Finally, a concept model of a human like Biped robot is created and it has been demonstrated that the human gait can be successfully translated to robotic applications.

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