Number：

04097048

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Name：

方亮彬

Titles：

Assistant Professor

Author：

洪信安、徐佳銘、方亮彬

Paper name：

兩足輪式拖步行走之運動特性

Name of activity：

2008 the 16th National Conference on Automation Technology

Keywords： 人形機器人；動作擷取、拖步行走、輪式溜冰、步態。(Humanoid Robot, Motion capture, Dragged pace walking, Roller-skating, Gait.)

Abstract：為設計能以兩足輪式拖步行走的仿真機器人，本文針對真人穿上雙排輪鞋時的拖步行走步態進行運動特性分析，以作為設計及控制仿真機器人拖步行走步態的依據。所謂拖步行走是指行走時雙腳腳板均不離地，可透過穿著傳統雙排輪鞋實現此一行走步態。本文中設計了一套簡單的2維動作擷取技術，以取得真人著輪鞋拖步行走時的2維步態資料。根據本文所擷取的拖步行走步態資料，發現拖步行走有兩個重要的特徵：(1)膝蓋始終保持在髖關節之前，亦即大腿始終保持向前抬起(抬起約0~30^o)，而無向後拖曳之情形；(2)小退的腳踝相對於膝蓋始終保持落後(後擺約10~30^o)，腳踝全無向前邁出之情形。

To design a mimetic robot walking with bi-pad dragged pace roller-skating, this paper analysis the motion characteristics of roller-skating shoes worn by real humans. In this paper we developed a simple technology of 2dimensional motion capture to acquire the gait information of real humans wearing dragged roller skating. According to the acquired gait information, we found two major features of the motions: (1) The knee always remains before the hip joint, that is, the thigh remains up and forward in between 0~30^o , it doesn’t drag backward at all time. (2) The ankle always keeps 10~30 lag behind the knee, and it doesn’t step before the knee at all time.

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