THE CURRENT HUMANOIDS WITH SEVEN DEGREES OF FREEDOM PER LEG ARE NOT SUFFICIENT TO ACCURATELY REPRODUCE HUMAN WALKING KINEMATICS

摘要

This paper deals with the comparison between human and humanoid walking. The objective is to see if current humanoids are sufficient to faithfully reproduce human walking kinematics. To proceed, motion captured data of human walking were injected in a humanoid model based on human anthropometry and current humanoid robot kinematics. Then, we compared simulation results and human walking measures. This shows that current humanoid robot degree of freedom (DoF) induce significant quantitative errors in reproducing human walking kinematics. In particular, during foot internal-external rotation, knees tend to step out. We believe this could impede energy consumption by increasing speed and torque requirements in robot joints. Thus, we propose different solutions to solve this problem: either changing one flexion-extension joint orientation of the leg, or adding a new DoF.