Method for Real-time Controllable Step-length Human Leg Continuous Walking Motion Generation

Authors

Shuxu Jing, School of Information Engineering, Change University, 710064, China;
Zhang Di, School of Information Engineering, Change University, 710064, China;
Tinglei Zhang, School of Information Engineering, Change University, 710064, China;
Shaoxin Yuan, School of Information Engineering, Change University, 710064, China;

Abstract

Abstract: Based on a free walking description model which is not capable of step length control, an iteration algorithm was proposed for solving the corresponding straight walking motion according to the given single step length which could be continuously adjusted. The problem of smooth transition between two consecutive walking steps was solved by pose-wise Bezier weighting, which kept the starting and ending poses of a walking step constant. Continuous straight leg walking motion with continuously varied step length could be generated real-timely. The proposed method provided a solution for real-time continuoxis leg walking motion generation with known step lengths in a straight line, and a solution for straight walking step planning with known walking distance as well.

Recommended Citation

Jing, Shuxu; Di, Zhang; Zhang, Tinglei; and Yuan, Shaoxin (2021) "Method for Real-time Controllable Step-length Human Leg Continuous Walking Motion Generation," Journal of System Simulation: Vol. 27: Iss. 6, Article 5.
DOI: 10.16182/j.cnki.joss.2015.06.005
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss6/5

First Page

1190

Revised Date

2014-08-15

DOI Link

https://doi.org/10.16182/j.cnki.joss.2015.06.005

Last Page

1198

CLC

TP391

Recommended Citation

Jing Shuxu, Zhang Di, Zhang Tinglei, Yuan Shaoxin. Method for Real-time Controllable Step-length Human Leg Continuous Walking Motion Generation[J]. Journal of System Simulation, 2015, 27(6): 1190-1198.

DOI

10.16182/j.cnki.joss.2015.06.005