Evaluation of Various Walking Patterns of Biped Humanoid Robot

In this paper, we propose a design of a robotic ankle-foot complex based on the human functional-anatomic ankle-foot structure. The proposed foot consists of three links, two joints, and four plantar muscles, whose mechanical stiffness can be controlled by utilizing McKibben pneumatic actuators.With this structure, a deformable medial longitudinal arch in a human foot can be emulated. We developed a musculoskeletal biped robot to which the proposed feet are implemented and measured its walking motion, especially the deformation of the robot foot. It is found that the foot generates a truss mechanism and a windlass mechanism, which are important functions of a human foot for shock absorption and energy storage and reuse. We also conducted a walking experiment with various parameters of a plantar muscle's tonus to see how the tonus affects to ground reaction forces (GRFs) and its walking behavior. It is found that the GRF had two peaks as well as human walking and the shape of the GRF curve changes according to the tonus of the plantar muscle. We analyzed the impulse of GRF, finding out that a truss mechanism and a windlass mechanism works effectively with appropriate tonus of the plantar aponeurosis.

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“…By contrast, robotic feet of existing humanoids such as [2], [I], [3] tend to be very simple, e.g. flat planes, comparing to a human foot.…”

Section: Introductionmentioning

confidence: 99%

Humanlike ankle-foot complex for a biped robot

Narioka

Homma

Hosoda

2012

2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)

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“…This walking style claims to be more human-like due to the more straightening knees. Moreover, it brings an important benefit in terms of less torque and energy requirement than conventional walking with bent knees [8], [9]. However, it needs two extra degree of freedoms (DOF) at waist joint for solving inverse kinematics.…”

Section: Introductionmentioning

confidence: 99%

Trajectory generation of straightened knee walking for humanoid robot iCub

Tsagarikis

Caldwell

et al. 2010

2010 11th International Conference on Control Automation Robotics &Amp; Vision

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Abstract-Most humanoid robots walk with bent knees, which particularly requires high motor torques at knees and gives an unnatural walking manner. It is therefore essential to design a control method that produces a motion which is more energy efficient and natural comparable to those performed by humans. In this paper, we address this issue by modeling the virtual springdamper based on the cart-table model. This strategy utilizes the preview control, which generates the desired horizontal motion of the center of mass (COM), and the virtual spring-damper for generating the vertical COM motion. The theoretical feasibility of this hybrid strategy is demonstrated in Matlab simulation of a multi-body bipedal model. Knee joint patterns, ground reaction force (GRF) patterns, COM trajectories are presented. The successful walking gaits of the child humanoid "iCub" in the dynamic simulator validate the proposed scheme. The joint torques required by the proposed strategy are reduced, compared with the one required by the cart-table model.

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“…Researchers at Waseda University started the humanoid robot research since 1966, and they recently developed a biped humanoid robot WABIAN-2R [1]. The WABIAN-2R is developed to simulate human locomotion It has led to the realization of emotional walking that is expressed by the parameterization of body motion, walking experiments based on an online pattern generation using obtained visual and auditory information [2][3]. Honda Corporation developed humanoid robots named P2, P3, and Asimo.…”

Section: Introductionmentioning

confidence: 99%

Mechanical Design of Small-Size Humanoid Robot: TWNHR-VI

Wong

Cheng

Huang

et al. 2010

Communications in Computer and Information Science

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Abstract.A mechanical structure with 23 DOFs (degrees of freedom) is proposed so that an implemented small-size humanoid robot named TWNHR-VI is able to accomplish some human-like walking motions. The height and weight of the implemented robot is 55 cm and 3.7 kg, respectively. There are 2 DOFs on the head, 1 DOF on the trunk, 4 DOFs on each arm, and 6 DOFs on each leg. Three basic walking experiments of TWNHR-VI are presented to illustrate that the proposed mechanical structure lets the robot walk forward, turn, and slip effectively.

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Evaluation of Various Walking Patterns of Biped Humanoid Robot

Cited by 36 publications

References 9 publications

Humanlike ankle-foot complex for a biped robot

Humanlike ankle-foot complex for a biped robot

Trajectory generation of straightened knee walking for humanoid robot iCub

Mechanical Design of Small-Size Humanoid Robot: TWNHR-VI

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