Knee stretch walking method for biped robot: Using toe and heel joints to increase walking strides

Takahiko Sato; Shuhei Shimmyo; Miki Nakazato; Kei Mikami; Tomoya Sato; Sho Sakaino; Kouhei Ohnishi

doi:10.1541/ieejias.131.283

Knee stretch walking method for biped robot: Using toe and heel joints to increase walking strides

Takahiko Sato, Shuhei Shimmyo, Miki Nakazato, Kei Mikami, Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This paper proposes a knee stretch walking method for biped robots; the method involves the use of the toes and heel joints to increase walking strides. A knee can be stretched by switching control variables. By a knee stretch walking with heel contacts to the ground and toe takeoffs from the ground, biped robots can increase their walking stride and speed. The validity of the proposed method is confirmed by simulation and experimental results.

Original language	English
Pages (from-to)	283-290+8
Journal	ieej transactions on industry applications
Volume	131
Issue number	3
DOIs	https://doi.org/10.1541/ieejias.131.283
Publication status	Published - 2011

Keywords

Biped robot
Heel joint
Knee stretch walking
Toe joint
Trajectory planning
ZMP

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1541/ieejias.131.283

Cite this

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abstract = "This paper proposes a knee stretch walking method for biped robots; the method involves the use of the toes and heel joints to increase walking strides. A knee can be stretched by switching control variables. By a knee stretch walking with heel contacts to the ground and toe takeoffs from the ground, biped robots can increase their walking stride and speed. The validity of the proposed method is confirmed by simulation and experimental results.",

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author = "Takahiko Sato and Shuhei Shimmyo and Miki Nakazato and Kei Mikami and Tomoya Sato and Sho Sakaino and Kouhei Ohnishi",

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AU - Mikami, Kei

AU - Sato, Tomoya

AU - Sakaino, Sho

AU - Ohnishi, Kouhei

PY - 2011

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AB - This paper proposes a knee stretch walking method for biped robots; the method involves the use of the toes and heel joints to increase walking strides. A knee can be stretched by switching control variables. By a knee stretch walking with heel contacts to the ground and toe takeoffs from the ground, biped robots can increase their walking stride and speed. The validity of the proposed method is confirmed by simulation and experimental results.

KW - Biped robot

KW - Heel joint

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KW - Toe joint

KW - Trajectory planning

KW - ZMP

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Knee stretch walking method for biped robot: Using toe and heel joints to increase walking strides

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

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