Using Natural Human Gait for a humanoid robot

In this paper the method used to implement the natural human gait for a humanoid robot is presented. This work is part of the humanoid robot project called Archie. The project Archie started on 2004 in the Institute of Handling Robotics and Technology at Vienna University of Technology. The aim of this project is to build a robot that can imitate human's basic activities such as walking. In this work an image processing based technique has been used to extract the humans' walking trajectory, as a model for the robot. The same image processing method has been used to evaluate the robot's control system performance (traversed trajectory). Finally, the error obtained from the robot's test is shown and briefly discussed.