Simultaneous locomotion of biped robot with the transmission of human motion

D. Kasun Prasanga, Kouhei Ohnishi

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


This paper proposes a novel, simultaneous bipedal locomotion method with the use of human skill of walking, to increase the performance of walking of the biped robot. Traditional walking methods require high computational power and advanced controllers to realize bipedal walking. In this proposed method, an exoskeleton attached to the human's lower body is used to obtain the joint information and the obtained joint information is then replicated on a biped robot in real time. The lateral motion of the center of mass of the biped is constrained in this experiment and is not discussed in this paper. Since a direct motion transmission is used in the proposal, this method is quite straight forward and a simultaneous walking can be realized at the same time with a high performance. Also, it doesn't require any dynamic model of the biped or specific trajectory planning method. The gait of the biped is directly determined by that of the human. Therefore, this method can copy the motion of human walking to a biped. Results obtained from the experiments validate the proposed method.

Original languageEnglish
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)9781509034741
Publication statusPublished - 2016 Dec 21
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: 2016 Oct 242016 Oct 27

Publication series

NameIECON Proceedings (Industrial Electronics Conference)


Other42nd Conference of the Industrial Electronics Society, IECON 2016


  • Biped locomotion
  • Disturbance observer
  • Exoskeleton
  • Motion transmission
  • Position control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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