Multimedia  

 

Volume 24 Issue 7 - Publication Date: 1 July 2005
Special Issue on the 6th International Conference on Climbing and Walking Robots (CLAWAR 2003)
 
Foot Placement Selection Using Non-geometric Visual Properties
 
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
 
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.
 
Multimedia Key
= Video = Data = Code = Image
 
Extension
Type
Description
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Example One: “Indiana Jones” experiment: bipedal mechanism walking over irregularly spaced pillars (bird’s-eye view). (5.1 MB)
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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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