The effect of toe mechanism for simulation of small biped walkin robot by gait generation

Krissana Nerakae, Hiroshi Hasegawa

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

The researches of biped robot have a long history and continuation. One important research and very basic movement is walking. However, the present research of biped robot is still far from proposing a solution which generates a level of flexibility and reliability gait pattern that would enable practical walking. To solve its problem, in this paper, we consider the feet of the robot which is one of the most important points as human feet in order to improve the flexibility of robot movement from heel to toe. The design of the various components of the robot feet, its flexibility and stability are excellent although this gait is not suitable for a quick walk. In this study, we introduce feet which have the toe mechanism to a small biped robot through inspiration from its adaptive walk. In the toe mechanism, we want to reduce the power consumption of the robot, therefore springdamper is used instead of the sensor.

Original languageEnglish
Pages80-85
Number of pages6
Publication statusPublished - 2012 Jan 1
Event11th International Conference on Modeling and Applied Simulation, MAS 2012, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2012 - Vienna, Austria
Duration: 2012 Sep 192012 Sep 21

Conference

Conference11th International Conference on Modeling and Applied Simulation, MAS 2012, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2012
CountryAustria
CityVienna
Period12/9/1912/9/21

Keywords

  • Biped robot
  • Gait
  • Toe mechanism

ASJC Scopus subject areas

  • Modelling and Simulation

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    Nerakae, K., & Hasegawa, H. (2012). The effect of toe mechanism for simulation of small biped walkin robot by gait generation. 80-85. Paper presented at 11th International Conference on Modeling and Applied Simulation, MAS 2012, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2012, Vienna, Austria.