Effect of ankle joint position on biped robot walking behaviour

Van Tinh Nguyen; Ngoc Linh Tao; Hiroshi Hasegawa

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 proceeding › Conference contribution

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 language	English
Title of host publication	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.
Pages	14-20
Number of pages	7
ISBN (Electronic)	9781510847705
Publication status	Published - 2017 Jan 1
Event	16th International Conference on Modeling and Applied Simulation, MAS 2017 - Barcelona, Spain Duration: 2017 Sep 18 → 2017 Sep 20

Other

Other	16th International Conference on Modeling and Applied Simulation, MAS 2017
Country	Spain
City	Barcelona
Period	17/9/18 → 17/9/20

Keywords

Ankle joint position
Big toe
Biped robot
Torsion spring
Walking behavior

ASJC Scopus subject areas

Modelling and Simulation

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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 proceeding › Conference 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.

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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).",

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