A Bio-Robotic Toe &amp; Foot &amp; Heel Models of a Biped Robot for More Natural Walking: Foot Mechanism &amp; Gait Pattern

Yoon, Jungwon; Kim, Gabsoon; Handharu, N.; Özer, Abdullah

doi:10.5772/14959

Cited by 3 publications

(2 citation statements)

References 15 publications

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“…Hui et al [16] developed a foot system with four platforms which can maintain contact at four points on convex terrain with a large support polygon. Mechanical design of a three platform foot with 4 DOF and kinematic analysis is carried out by Yoon et al [17], [18].…”

Section: Introductionmentioning

confidence: 99%

Control of a biped robot with flexible foot on an uneven terrain

Balakrishnan

Tripathi

Sudarshan

2014

7th International Conference on Information and Automation for Sustainability

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A technique to achieve stable walking of a biped robot on an uneven terrain is proposed in this paper. A biped structure with a flexible foot will be able to navigate uneven terrain more effectively than the same with a flat foot. The criterion used for stable walking is Zero moment point (ZMP). The geometric center of the support polygon formed by the flexible foot is taken for dynamically planning the reference trajectory at every step. A control law is derived using computed torque control and its validity is checked using simulation study. It is observed that the actual trajectory closely follows reference with the proposed control law.

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Section: Introductionmentioning

confidence: 99%

Control of a biped robot with flexible foot on an uneven terrain

Balakrishnan

Tripathi

Sudarshan

2014

7th International Conference on Information and Automation for Sustainability

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“…This paper aims to study the performance of a planar bipedal robot equipped with knees based on crossed four-bar linkages for a more realistic walking gait composed of double support phases, single support sub-phases with a flat foot contact, and single support sub-phases with a rotation of the foot around its toe. The works of [15], [16], [17], and [18], show that the presence of toe joints allows to perform longer strides, climb higher steps, reduce the energy consumption and walk at a higher speed. This biped robot is fully actuated in single support sub-phase with a flat foot contact.…”

Section: Introductionmentioning

confidence: 99%

Human like trajectory generation for a biped robot with a four-bar linkage for the knees

Aoustin

Hamon

2013

Robotics and Autonomous Systems

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International audienceThe design of a knee joint is a key issue in robotics to improve the locomotion and the performances of the bipedal robots. We study a design for the knee joints of a planar bipedal robot, based on a four-bar linkage. We design walking reference trajectories composed of double support phases, single support phases and impacts. The single support phases are divided in two sub-phases. During the first sub-phase the stance foot has a flat contact with the ground. During the second sub-phase the stance foot rotates on its toes. In the double support phase, both stance feet rotate. This phase is ended by an impact on the ground of the toe of the forward foot, the rear foot taking off. The single support phase is ended by an impact of the heel of the swing foot, the other foot keeping contact with the ground through its toes. A parametric optimization problem is presented for the determination of the parameters corresponding to the optimal cyclic walking gaits. In the optimization process this novel bipedal robot is successively, overactuated (double support with rotation of both stance feet), fully actuated (single support sub-phase with a flat foot contact), and underactuated (single support sub-phase with a rotation of the stance foot). A comparison of the performances with respect to a sthenic criterion is proposed between a biped equipped with four-bar knees and the other with revolute joints. Our numerical results show that the performances with a four-bar linkage are badder for the smaller velocities and better for the higher velocities. These numerical results allow us to think that the four-bar linkage could be a good technological way to increase the speed of the future bipedal robots

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Gait pattern generation with knee stretch motion for biped robot using toe and heel joints

Handharu

Yoon

Kim

2008

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots

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This paper presents a new alternative methodology to generate gait pattern with a knee stretched motion for biped robot utilizing toe and heel joints. During walking sequence, human heels act as passive joints that create some support area which enhances the stability of human walking. This research tries to replace human-heel like mechanism with a heel joint in the biped robot foot. The existence of heel joints in the biped robot feet has two main advantages. The first one is that the support area during double support phase will be increased. Secondly, singularity during knee stretch motion can be avoided. The loss of degree of freedom in the knee joint will not produce singularity in the inverse kinematics solution since there is still another degree of freedom in the heel joint. The effectiveness of the algorithm is being studied through a dynamic simulation tool. A stable knee stretch walking pattern utilizing toe and heel joints was generated, which has some similarity to the human walking pattern. Effectiveness of the proposed algorithm in terms of joint torque requirements as well as energy consumptions have also been showed.

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A Bio-Robotic Toe & Foot & Heel Models of a Biped Robot for More Natural Walking: Foot Mechanism & Gait Pattern

Cited by 3 publications

References 15 publications

Control of a biped robot with flexible foot on an uneven terrain

Control of a biped robot with flexible foot on an uneven terrain

Human like trajectory generation for a biped robot with a four-bar linkage for the knees

Gait pattern generation with knee stretch motion for biped robot using toe and heel joints

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