Effect of Toe Length on Biped Walking Behavior

Abstract

This paper presents the effect of toe length on the walking behavior of a humanoid robot. This research is conducted using the KHR-3HV, a humanoid robot manufactured by the Kondo Kagaku company. Research results show that toe length sensitively results in the change of the walking distance, lateral distance, as well as gait pattern. Robot locomotion is considered by varying the length of the toe through dynamic emulation using Adams software (MSC company, USA). Three response results, walking distance, lateral distance, and angle of rotation, are compared to identify the optimum toe length for the robot. The control data generated by a gait function as a trigonometric function can be used as reference data in the control process. 

Walker Ergonomic Design for Visually Impaired Elderly

“…The robot could walk on horizontal surfaces while hung on the bar to prevent falling. The toe length is sensitive with lateral distance, and gait pattern of robot locomotion [14]. Gait function can be used as reference data in the control process.…”