複雑な人間の移動行動の研究：這うことから歩くことまで
The Study of Complex Human Locomotion Behaviors: From Crawling to Walking
乳児の人型ロボットが這う段階から歩く段階へと発達する過程を、単純な状態機械を用いた制御アルゴリズムで再現し、運動学モデルとシミュレーション結果を定量的に評価した研究。
著者: Shengjie Xu, Kevin Mok
分類: cs.RO, cs.GR
原文アブストラクト
This paper uses a simple state machine to develop a control algorithm for controlling an infant humanoid in the context of a simple model system. The algorithm is inspired by a baby who starts learning to stand and walk at 7 to 12 months of age: he or she initially learns to crawl and then, once the lower limb muscles are strong enough, can learn to walk by coming to support his or her upper trunk. Ideally, this algorithm-supported locomotion can take the baby to any desired location: a pile of toys, a tasty snack, or the baby's parents or relatives. In this paper we analyze the crawling stage, the simple 2d bipedal model, and the initial walking form from 8 to 18 months of age, and quantitatively evaluate the ideal kinematics model and simulation results for these stages.