WITHDRAWN: The optical multi-camera based motion Analysis of Walking Attitude Stability of Lower Limb Exoskeleton Robot using movement image segmentation

Abstract Aiming at the stable walking problem of lower limb exoskeleton robot, the instability mechanism of the robot during walking is analyzed based on the zero-moment point theory. It is found that the zero-moment point theory has certain limitations in a complete walking cycle. Based on this, the stability criterion of the biped projection polygon method is proposed, and the stable polygon in the walking process is established. The segmentation method is used to divide the stable polygon of each pose into several triangles, and the point Zero Moment Point (ZMP) law changes of zero-moment in a walking cycle is analyzed, qualitatively determine the dynamic stability characteristics of the human-machine system. Based on the shortest distance stability margin, the concept of instability rate is proposed. Based on several stable triangles, the dynamic stability characteristics are quantitatively calculated. The optical multi-camera motion capture system, which is a multi-media measurement technology, is used to collect the gravity center data of the human-machine system in the course of walking. The multi-media technology is used to process the data and provide the test data.The experimental results show that by calculating the stability criterion and instability rate of the biped projection polygon method are obtained, more accurate expression of the stability characteristics of the human-machine system in the walking posture motion cycle can be expressed.

[1]  Majid Nili Ahmadabadi,et al.  Robust hopping based on virtual pendulum posture control , 2013, Bioinspiration & biomimetics.

[2]  Ling Huang,et al.  Optimal Design of Cascade LDPC-CPM System Based on Bionic Swarm Optimization Algorithm , 2018, IEEE Transactions on Broadcasting.

[3]  Mark G. Carpenter,et al.  What startles tell us about control of posture and gait , 2015, Neuroscience & Biobehavioral Reviews.

[4]  Jong-Hwan Kim,et al.  Recent progress and development of the humanoid robot HanSaRam , 2009, Robotics Auton. Syst..

[5]  Xi Chen,et al.  Investigation of the hydrodynamic performance of crablike robot swimming leg , 2018 .

[6]  Alberto Mazzoni,et al.  Intracellular Dynamics in Cuneate Nucleus Neurons Support Self-Stabilizing Learning of Generalizable Tactile Representations , 2018, Front. Cell. Neurosci..

[7]  Moacir Antonelli Ponti,et al.  Generalization of feature embeddings transferred from different video anomaly detection domains , 2019, J. Vis. Commun. Image Represent..

[8]  Patrick Siarry,et al.  Boosting content based image retrieval performance through integration of parametric & nonparametric approaches , 2019, J. Vis. Commun. Image Represent..

[9]  Jun-Ho Oh,et al.  Balance recovery through model predictive control based on capture point dynamics for biped walking robot , 2018, Robotics Auton. Syst..

[10]  Kazuhito Yokoi,et al.  Biped walking pattern generation by a simple three-dimensional inverted pendulum model , 2003, Adv. Robotics.

[11]  Saadi Boudjit,et al.  Sparse optimization of non separable vector lifting scheme for stereo image coding , 2018, J. Vis. Commun. Image Represent..

[12]  G. Yan,et al.  Stable walking of 3D compass-like biped robot with underactuated ankles using discrete transverse linearization , 2015 .

[13]  Barbara Hammer,et al.  Expectation maximization transfer learning and its application for bionic hand prostheses , 2018, Neurocomputing.

[14]  Xiong Chen,et al.  A vision methodology for harvesting robot to detect cutting points on peduncles of double overlapping grape clusters in a vineyard , 2018, Comput. Ind..

[15]  Ming Wang,et al.  Motion Control and Motion Coordination of Bionic Robotic Fish: A Review , 2018, Journal of Bionic Engineering.

[16]  Zoltan-Csaba Marton,et al.  Discriminative regularization of the latent manifold of variational auto-encoders , 2019, J. Vis. Commun. Image Represent..