2024-03-29T02:18:54Z
https://nagoya.repo.nii.ac.jp/oai
oai:nagoya.repo.nii.ac.jp:00025741
2023-01-16T04:15:43Z
320:321:322
Gait motion for naturally curving variously shaped corners
Akiyama, Yasuhiro
76318
Okamoto, Shogo
76319
Toda, Hitoshi
76320
Ogura, Takao
76321
Yamada, Yoji
76322
Turning
gait motion
factor analysis
stepping strategy
physical assistant robot
Modeling the curving motion of humans in actual environment is rarely done because of the complexity and variability of the turning motion. In this study, various gait motions, including straight, round corner, and circular walks, were recorded and analyzed using factor analysis. As a result, we successfully extracted several factors that represent turning motions, such as long stride motion, turning motion led by the inner leg, and turning motion led by the outer leg. In particular, we found that the natural curving motion, which is a motion that results when turning around a round corner, is widely and continuously distributed on the factor space. Although several typical stepping strategies were reported by related studies, we found that the stepping motion changes between straight and turning gaits in the factor space during natural curving motions. Thus, the classification of curving motion into several typical distinct stepping patterns is probably insufficient to understand the natural curving motion. Furthermore, natural curving motions that comprise circular curving motions that were believed to represent typical curving motions was not validated. On the other hand, this result also suggests the possibility of generating curving motions for a physical assistant robot by combining straight gait and circler curving motion.
ファイル公開:2018/11/03
journal article
Taylor & Francis
2017-11-03
application/pdf
Advanced Robotics
2
32
77
88
0169-1864
https://nagoya.repo.nii.ac.jp/record/25741/files/Turn_7_1_final.pdf
eng
https://doi.org/10.1080/01691864.2017.1396251
This is an Accepted Manuscript of an article published by Taylor & Francis Group in Advanced Robotics on 03/11/2017, available online: http://www.tandfonline.com/10.1080/01691864.2017.1396251.