Effects of toe-off and heel-off motions on gait performance of biped robots

Ezati, Mahdokht; Khadiv, Majid; Moosavian, S. Ali A.

doi:10.1109/icrom.2015.7367592

Cited by 5 publications

(3 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This means that for different contact conditions, different solutions should be computed. For instance, we computed the inverse dynamics solution for various gait phases such as toe-off and heel-contact in our previous works [9,44,45]. However, the model with compliant contact can cope with this situation and the results are automatically adapted to the real contact condition.…”

Section: Resultsmentioning

confidence: 99%

See 1 more Smart Citation

Rigid vs compliant contact: An experimental study on biped walking

Khadiv¹,

Moosvian²,

Yousefi‐Koma³

et al. 2017

Preprint

Self Cite

View full text Add to dashboard Cite

Contact modeling plays a central role in motion planning, simulation and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at interaction ports. Contrary to the dynamics model of legged systems with rigid contact (without impact) which is straightforward to develop, there is no consensus among researchers to employ a standard compliant contact model. Our main goal in this paper is to study the dynamics model structure of bipedal walking systems with rigid contact and a novel compliant contact model, and to present experimental validation of both models. For the model with rigid contact, after developing the model of the articulated bodies in flight phase without any contact with environment, we apply the holonomic constraints at contact points and develop a constrained dynamics model of the robot in both single and double support phases. For the model with compliant contact, we propose a novel nonlinear contact model and simulate motion of the robot using this model. In

show abstract

Section: Resultsmentioning

confidence: 99%

“…It should be noted that here we just investigate flat-feet walking phases in this paper. We investigated other gait phases such as toe-off and heel-contact in our earlier works [9,44,45].…”

Section: Model With Rigid Contactmentioning

confidence: 99%

Rigid vs compliant contact: An experimental study on biped walking

Khadiv¹,

Moosvian²,

Yousefi‐Koma³

et al. 2017

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…The topology that is adopted in this article for walking considers the feet parallel to the ground surface during walking, without heel-off or toe-off phases. 29,30 Therefore, orientation of the feet remains constant, parallel to the ground surface, in all phases of the motion. In this topology, during the double support phase (DSP), both feet are completely in contact with the ground surface.…”

Section: Gait Planningmentioning

confidence: 99%

Online adaptation for humanoids walking on uncertain surfaces

Khadiv

Moosavian

Yousefi‐Koma

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

Self Cite

View full text Add to dashboard Cite

In this paper, an online adaptation algorithm for bipedal walking on uneven surfaces with height uncertainty is proposed. In order to generate walking patterns on flat terrains, the trajectories in the task space are planned to satisfy the dynamic balance and slippage avoidance constraints, and also to guarantee smooth landing of the swing foot. To ensure smooth landing of the swing foot on surfaces with height uncertainty, the preplanned trajectories in the task space should be adapted.The proposed adaptation algorithm consists of two stages. In the first stage, once the swing foot reaches its maximum height, the supervisory control is initiated until the touch is detected. After the detection, the trajectories in the task space are modified to guarantee smooth landing. In the second stage, this modification is preserved during the Double Support Phase (DSP), and released in the next Single Support Phase (SSP). Effectiveness of the proposed online adaptation algorithm is experimentally verified through realization of the walking patterns on the SURENA III humanoid robot, designed and fabricated at CAST. The walking is tested on a surface with various flat obstacles, where the swing foot is prone to either land on the ground soon or late.

show abstract