Effect of ankle joint position on biped robot walking behaviour

Van Tinh Nguyen, Ngoc Linh Tao, Hiroshi Hasegawa

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

1 Citation (Scopus)

Abstract

This paper addresses the effect of ankle joint position on the walking behavior of a biped robot. The mentioned foot structure consists of a tiptoe and a big toe inspired by the human foot which have a crucial role on moving stability. The study subject is a small robot called Kondo KHR-3HV, belonging to the Kondo Kagaku Company. Due to the small size of the robot and considering a reduction in energy consumption in toe mechanism, a passive joint using torsion spring was selected as a toe joint. The gait generation method, for finding the proper position of ankle joint, is used by varying the ankle joint position. There are two requirements of robot design: go straight and stay within setting conditions. The paper is implemented by two stages. First, the biped robot locomotion is considered by different stiffness coefficients to find out what is the proper stiffness coefficient. In the second stage, the simulation of all small biped robot models which have the different ankle joint position, can walk within setting conditions, is implemented. The results are compared to the human ankle joint trajectory in gait performance and frequency and are confirmed by dynamic simulation on Adams (MSC company, USA).

Original languageEnglish
Title of host publication16th International Conference on Modeling and Applied Simulation, MAS 2017, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2017
PublisherCAL-TEK S.r.l.
Pages14-20
Number of pages7
ISBN (Electronic)9781510847705
Publication statusPublished - 2017 Jan 1
Event16th International Conference on Modeling and Applied Simulation, MAS 2017 - Barcelona, Spain
Duration: 2017 Sep 182017 Sep 20

Other

Other16th International Conference on Modeling and Applied Simulation, MAS 2017
CountrySpain
CityBarcelona
Period17/9/1817/9/20

Fingerprint

Robots
Stiffness
Torsional stress
Industry
Energy utilization
Trajectories
Computer simulation

Keywords

  • Ankle joint position
  • Big toe
  • Biped robot
  • Torsion spring
  • Walking behavior

ASJC Scopus subject areas

  • Modelling and Simulation

Cite this

Nguyen, V. T., Tao, N. L., & Hasegawa, H. (2017). Effect of ankle joint position on biped robot walking behaviour. In 16th International Conference on Modeling and Applied Simulation, MAS 2017, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2017 (pp. 14-20). CAL-TEK S.r.l..

Effect of ankle joint position on biped robot walking behaviour. / Nguyen, Van Tinh; Tao, Ngoc Linh; Hasegawa, Hiroshi.

16th International Conference on Modeling and Applied Simulation, MAS 2017, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2017. CAL-TEK S.r.l., 2017. p. 14-20.

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

Nguyen, VT, Tao, NL & Hasegawa, H 2017, Effect of ankle joint position on biped robot walking behaviour. in 16th International Conference on Modeling and Applied Simulation, MAS 2017, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2017. CAL-TEK S.r.l., pp. 14-20, 16th International Conference on Modeling and Applied Simulation, MAS 2017, Barcelona, Spain, 17/9/18.
Nguyen VT, Tao NL, Hasegawa H. Effect of ankle joint position on biped robot walking behaviour. In 16th International Conference on Modeling and Applied Simulation, MAS 2017, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2017. CAL-TEK S.r.l. 2017. p. 14-20
Nguyen, Van Tinh ; Tao, Ngoc Linh ; Hasegawa, Hiroshi. / Effect of ankle joint position on biped robot walking behaviour. 16th International Conference on Modeling and Applied Simulation, MAS 2017, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2017. CAL-TEK S.r.l., 2017. pp. 14-20
@inproceedings{7c46bc8262b64b148a7ca17cb5ef83c4,
title = "Effect of ankle joint position on biped robot walking behaviour",
abstract = "This paper addresses the effect of ankle joint position on the walking behavior of a biped robot. The mentioned foot structure consists of a tiptoe and a big toe inspired by the human foot which have a crucial role on moving stability. The study subject is a small robot called Kondo KHR-3HV, belonging to the Kondo Kagaku Company. Due to the small size of the robot and considering a reduction in energy consumption in toe mechanism, a passive joint using torsion spring was selected as a toe joint. The gait generation method, for finding the proper position of ankle joint, is used by varying the ankle joint position. There are two requirements of robot design: go straight and stay within setting conditions. The paper is implemented by two stages. First, the biped robot locomotion is considered by different stiffness coefficients to find out what is the proper stiffness coefficient. In the second stage, the simulation of all small biped robot models which have the different ankle joint position, can walk within setting conditions, is implemented. The results are compared to the human ankle joint trajectory in gait performance and frequency and are confirmed by dynamic simulation on Adams (MSC company, USA).",
keywords = "Ankle joint position, Big toe, Biped robot, Torsion spring, Walking behavior",
author = "Nguyen, {Van Tinh} and Tao, {Ngoc Linh} and Hiroshi Hasegawa",
year = "2017",
month = "1",
day = "1",
language = "English",
pages = "14--20",
booktitle = "16th International Conference on Modeling and Applied Simulation, MAS 2017, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2017",
publisher = "CAL-TEK S.r.l.",

}

TY - GEN

T1 - Effect of ankle joint position on biped robot walking behaviour

AU - Nguyen, Van Tinh

AU - Tao, Ngoc Linh

AU - Hasegawa, Hiroshi

PY - 2017/1/1

Y1 - 2017/1/1

N2 - This paper addresses the effect of ankle joint position on the walking behavior of a biped robot. The mentioned foot structure consists of a tiptoe and a big toe inspired by the human foot which have a crucial role on moving stability. The study subject is a small robot called Kondo KHR-3HV, belonging to the Kondo Kagaku Company. Due to the small size of the robot and considering a reduction in energy consumption in toe mechanism, a passive joint using torsion spring was selected as a toe joint. The gait generation method, for finding the proper position of ankle joint, is used by varying the ankle joint position. There are two requirements of robot design: go straight and stay within setting conditions. The paper is implemented by two stages. First, the biped robot locomotion is considered by different stiffness coefficients to find out what is the proper stiffness coefficient. In the second stage, the simulation of all small biped robot models which have the different ankle joint position, can walk within setting conditions, is implemented. The results are compared to the human ankle joint trajectory in gait performance and frequency and are confirmed by dynamic simulation on Adams (MSC company, USA).

AB - This paper addresses the effect of ankle joint position on the walking behavior of a biped robot. The mentioned foot structure consists of a tiptoe and a big toe inspired by the human foot which have a crucial role on moving stability. The study subject is a small robot called Kondo KHR-3HV, belonging to the Kondo Kagaku Company. Due to the small size of the robot and considering a reduction in energy consumption in toe mechanism, a passive joint using torsion spring was selected as a toe joint. The gait generation method, for finding the proper position of ankle joint, is used by varying the ankle joint position. There are two requirements of robot design: go straight and stay within setting conditions. The paper is implemented by two stages. First, the biped robot locomotion is considered by different stiffness coefficients to find out what is the proper stiffness coefficient. In the second stage, the simulation of all small biped robot models which have the different ankle joint position, can walk within setting conditions, is implemented. The results are compared to the human ankle joint trajectory in gait performance and frequency and are confirmed by dynamic simulation on Adams (MSC company, USA).

KW - Ankle joint position

KW - Big toe

KW - Biped robot

KW - Torsion spring

KW - Walking behavior

UR - http://www.scopus.com/inward/record.url?scp=85035146308&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85035146308&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:85035146308

SP - 14

EP - 20

BT - 16th International Conference on Modeling and Applied Simulation, MAS 2017, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2017

PB - CAL-TEK S.r.l.

ER -