Automatic Adaptation of an Humanoid Robot Gait to Different Floor-Robot Friction Coefficients



    Project name: Automatic Adaptation of an Humanoid Robot Gait to Different Floor-Robot Friction Coefficients
    PI: João Paulo Morais Ferreira
    Reference: PTDC/EEI-AUT/5141/2014
    Duration of the action: 2014-11-08 - 2018-11-08
    Description: The field of humanoid robotics in the coming decades will surely be an area with strong growth in research and commercial fields. The project international team is composed by elements from Institute of Systems and Robotics (ISR) - University of Coimbra, Polytechnic Institute of Coimbra (IPC), University of Aveiro (UA), Kochi University of Technology (KUT) from Japan and Mihailo Pupin Institute (MPI), from Serbia. In the near future, humanoid robots will move from the lab to the common indoor environment. To take this step it will be fundamental to study the automatic adaptation of the robot gait to different velocities and robot-floor friction coefficients. Robot stability control using smooth trajectories (similar to human trajectories) is also necessary to adapt the Center of Pressure (CoP) trajectory with the velocity and with the robot-floor friction coefficient. Robot's movements more similar to human's movements led to a greater acceptance by humans to interact with the robot and the consequent increase of commercialization potential. This project proposes innovative research lines in the area of humanoid robotics, particularly in automatic adaptation of the humanoid robot gait to different ground-robot friction coefficients. It is expected that the instrumented shoes developed can also be used for medical applications, allowing gait pathologies identification and quantification of their severity. It can be an important new medical diagnosis tool, overcoming the cost limitations of the present gait diagnosis tools. This system would allow an objective understanding of the clinical evolution of patients, enabling an effective functional rehabilitation of a patient's gait. This system will be tested by Prof. Páscoa Pinheiro in the Physical and Rehabilitation Medical Department of the Centro Hospitalar Universitário de Coimbra (CHUC).

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