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

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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..