| Volume 24 Issue 7 - Publication Date: 1 July 2005 |
| Special Issue on the 6th International Conference
on Climbing and Walking Robots (CLAWAR 2003) |
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| Foot Placement Selection Using
Non-geometric Visual Properties |
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| M. A. Lewis, H.-K.
Lee Iguana Robotics, Inc., PO Box 625, Urbana, IL 61803, USA,
and A. Patla Department of Kinesiology, University ofWaterloo,
ON, N2L 3G1, Canada |
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| Geometric information alone
is not sufficient to guide foot placement in a robotic device.Atravel path
may be firm or soft, slippery or sticky, and will thus affect locomotion.
In humans, associations are made between various travel surfaces and gait
modification. If a preferred foot position is unavailable, an alternate
is selected. This selection is biased, and not random. Here we present a
model of alternate foot placement.We demonstrate some novel properties of
the model, thus showing its predictive value.We give results in a small
bipedal walking mechanism. The power of our approach is that it captures
key features of human performance and can be easily implemented in most
walking machines. |
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| Multimedia Key |
= Video |
 = Data |
= Code |
= Image |
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Extension |
Type |
Description |
1 |
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Example
One: “Indiana Jones” experiment: bipedal mechanism
walking over irregularly spaced pillars (bird’s-eye view). (5.1
MB) |
2 |
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Example
Two: “Indiana Jones” experiment: bipedal mechanism
walking over irregularly spaced pillars (worm’s-eye view). (4.2
MB) |
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