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

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)283-290+8
Journalieej transactions on industry applications
Volume131
Issue number3
DOIs
Publication statusPublished - 2011 Sep 8

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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