Bigtoe Sizing Design of Small Biped Robot by Using Gait Generation Method

Krissana Nerakae, Hiroshi Hasegawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

The study of biped robot has long history and continuation. One of important moving processes is walking procedure. The walking posture is an important research field that always adapts and implements in the biped robot. The walking research field is very interesting because the walking posture of humans is flexible and stable. Additionally, the force that affect on the humans foot is also investigated. This research addresses the walking simulation of small biped robots that have tiptoe and bigtoe. The study based on the assumption that the bigtoe size affects on the walking posture and walking distance. The gait generation method, for finding the proper size of bigtoe, is utilized by varying the bigtoe size. There are two requirements of robot design: go straight and stay within setting conditions. The simulation results of all small biped robot models which have the different bigtoe sizes can walk within setting conditions. There is only one model its bigtoe width per foot width ratio equals 0.28 (or 28% of foot width) has the longest walking distance. Moreover, this ratio is equal to the ratio of humans foot.

Original languageEnglish
Title of host publicationEngineering and Manufacturing Technologies
PublisherTrans Tech Publications
Pages1079-1086
Number of pages8
ISBN (Print)9783038350552
DOIs
Publication statusPublished - 2014 Jan 1
Event5th International Conference on Mechanical, Industrial, and Manufacturing Technologies, MIMT 2014 - Penang, Malaysia
Duration: 2014 Mar 102014 Mar 11

Publication series

NameApplied Mechanics and Materials
Volume541-542
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Conference

Conference5th International Conference on Mechanical, Industrial, and Manufacturing Technologies, MIMT 2014
CountryMalaysia
CityPenang
Period14/3/1014/3/11

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Keywords

  • Bigtoe and tiptoe mechanism
  • Biped robot
  • Gait

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nerakae, K., & Hasegawa, H. (2014). Bigtoe Sizing Design of Small Biped Robot by Using Gait Generation Method. In Engineering and Manufacturing Technologies (pp. 1079-1086). (Applied Mechanics and Materials; Vol. 541-542). Trans Tech Publications. https://doi.org/10.4028/www.scientific.net/AMM.541-542.1079