Abstract
Abstract The goal of our study is to develop a system for walking on a step using a wearable robot. Our system consists of (1) sensing of a step from a movement of a walker, (2) detecting a foot placement state related to the step and (3) generating gait patterns of climbing and stepping down for the step. In the generation of gait patterns for the step, toe trajectories are generated according to the height of the step to avoid the collision of the swing leg and the step. A hip trajectory is generated by the optimization technique to minimize the sum total of joint angular jerk of the robot subject to the constrained condition of the hip position and velocity at toe-off. Each joint angle trajectory is calculated from the generated trajectories using inverse kinematics equations. We examined the feasibility of the proposed sensor and control systems for two kinds of steps with different height.
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