Continuous Walking over Various Terrains - A Walking Control Algorithm for a 12-DOF Locomotion Interface

Abstract

This paper describes control algorithm for continuous walking interactions at various terrains with a 12-DOF locomotion interface. The walking control algorithm is suggested for human to walk continuously on infinite floors generated by locomotion interface. For continuous walking, each independent platform of the locomotion interface will follow a human foot during swing phase, while the same platform will move back during stance phase. The transition phase between swing and stance phase is detected by using threshold of the ground height and the reaction force. For moving-back motions of the locomotion interface, the triangular retreating velocity profile is used to generate parabolas trajectory, which is similar to normal walking trajectory. By preliminary walking experiments with a 6dof locomotion interface, the algorithm is proven for a general human to walk naturally at levels, slopes, and stairs terrains. This walking control algorithm can be applied to any locomotion interfaces for applications such as navigations, rehabilitation, and gait analysis. © Springer-Verlag 2004.