ArtBot

Software architecture overview

In this document, we will provide a brief overview of the software architecture developed to generate and run ODOI gaits.

We focus on Gait simulation and execution only. Another step will be the description of the software that will be able to trigger specific behaviors based on sensory inputs.

The objective is to generate, test and validate a set of “standard” robot gaits and to observe, by changing the stride length for instance, if we can notice some “patterns”.

Human gait cycle : importance of the stride length

So far we did not speak about the stride length, which is defined as the distance between two successive placements of the same foot, but it is the parameter that will determine whether the gait is slow, medium or fast.

In our study we will consider that stride length will be determine by the following parameters:

• Rotation of the pelvic in the Horizontal plane ;
• Thigh/Hip flexion in the Sagittal plane;

Human gait cycle : some graphs

Here are some graphics in the different planes in order to illustrate what have been discussed in the note “A study of the human gait cycle in order to design a biped robot”.

 

Description of the ODOI platform : mechanical part

In this note, we will overview the main features of the ODOI platform. Finally I completed the whole design and one can see below how it looks like.

A study of the human gait cycle in order to design a biped robot

To make a biped walking machine, it seems to me essential to understand as we walk. This is precisely the aim of the study. It differs from other studies because the pelvis and chest (pectoral girdle and arm) are taken into account.

1      Take a closer look at human gait

1.1    Introduction

Biomechanics defines walking a form of bipedal locomotion as there is an alternating action between lower extremities. One leg is in touch with the ground for restraining, supporting and propulsion.

The other leg is in swing phase for creating a new step forward. So gait is the result of a series of rhythmic alternating movement of arms, legs, and trunk which create forward movement of the body.

By convention, the gait cycle begins with the initial placement off the right heel and ends when the same heel contacts the ground.