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