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Communication Dans Un Congrès Année : 2011

Programming Humanoid Motion to Reproduce Human Leg Injuries and Diseases

Sebastien Lengagne
Abderrahmane Kheddar
Sébastien Druon
Eiichi Yoshida
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Résumé

In this paper, we present a method of simulating walking motions with leg disease using humanoid robots based on our optimal dynamic multi-contact motion generation technique. We take into account full-body dynamics model of the robot and consider additional physical constraints. We have run the generated motions with HRP-2 humanoid robot platform and identified extra energy consumption due to the constrained leg motions using an infra-red camera. This research is the first step towards the usage of humanoid robots for studies and diagnosis on humans' disabled motions as well as active mannequin for welfare instrument evaluation.
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Dates et versions

hal-03935650 , version 1 (12-01-2023)

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  • HAL Id : hal-03935650 , version 1

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Sebastien Lengagne, Abderrahmane Kheddar, Sébastien Druon, Eiichi Yoshida. Programming Humanoid Motion to Reproduce Human Leg Injuries and Diseases. 29th annual conference of the Robotics Society of Japan (RSJ), Sep 2011, Tokyo, Japan. ⟨hal-03935650⟩
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