Research on real-time kinematics algorithm and gait planning of rope-driven skating training robot.

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Bibliographic Details
Title:	Research on real-time kinematics algorithm and gait planning of rope-driven skating training robot.
Authors:	WANG, Baihang¹, SHI, Heyu¹ 67C10806126@udru.ac.th, SHI, Jizu², ZHAO, Xue³, TONG, Tong⁴, WANG, Jiajun⁵
Source:	Archive of Mechanical Engineering. 2025, Vol. 72 Issue 4, p765-793. 29p.
Subjects:	Marquardt algorithm, Robotic path planning, Motion capture (Human mechanics), Robots, Hindlimb, Motion analysis
Abstract:	The mechanism of human lower limb skating is analyzed, and the skating information is collected by optical motion capture experiment to obtain the skating trajectory of lower limb target. Aiming at the target skating trajectory and gait motion characteristics, a new type of rope-driven skating training robot configuration based on rope parallel mechanism is proposed. The kinematics analysis of the configuration is carried out, and the motion mapping relationship between the rope and the end moving platform is established. Based on interval analysis and Levenberg-Marquardt iterative solver, a real-time forward kinematics algorithm is proposed to evaluate the real-time performance and convergence performance of the algorithm. The prototype experimental platform is built and the gait planning control experiment is carried out. The experimental results show that the displacement of the moving platform in the x direction, y direction and x direction and the rotation angle tracking of the sagittal plane and coronal plane are good. The movement error is controlled within 6mm, the rotation error is controlled at about 3°, and the lag time is about 0.23 s. The correctness of the theoretical analysis of real-time kinematics and the practicability of the algorithm are verified, which lays a foundation for further optimization of the control system. [ABSTRACT FROM AUTHOR]
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Database:	Engineering Source

Description
Abstract:	The mechanism of human lower limb skating is analyzed, and the skating information is collected by optical motion capture experiment to obtain the skating trajectory of lower limb target. Aiming at the target skating trajectory and gait motion characteristics, a new type of rope-driven skating training robot configuration based on rope parallel mechanism is proposed. The kinematics analysis of the configuration is carried out, and the motion mapping relationship between the rope and the end moving platform is established. Based on interval analysis and Levenberg-Marquardt iterative solver, a real-time forward kinematics algorithm is proposed to evaluate the real-time performance and convergence performance of the algorithm. The prototype experimental platform is built and the gait planning control experiment is carried out. The experimental results show that the displacement of the moving platform in the x direction, y direction and x direction and the rotation angle tracking of the sagittal plane and coronal plane are good. The movement error is controlled within 6mm, the rotation error is controlled at about 3°, and the lag time is about 0.23 s. The correctness of the theoretical analysis of real-time kinematics and the practicability of the algorithm are verified, which lays a foundation for further optimization of the control system. [ABSTRACT FROM AUTHOR]
ISSN:	00040738
DOI:	10.24425/ame.2025.155872