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

研究成果: Article査読

抄録

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.

本文言語English
ページ(範囲)283-290+8
ジャーナルieej transactions on industry applications
131
3
DOI
出版ステータスPublished - 2011

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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