Effect of toe length on biped walking behavior

Van Tinh Nguyen, Hiroshi Hasegawa

研究成果: Article

1 引用 (Scopus)

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This paper presents the effect of toe length on the walking behavior of a humanoid robot. This research is conducted using the KHR-3HV, a humanoid robot manufactured by the Kondo Kagaku company. Research results show that toe length sensitively results in the change of the walking distance, lateral distance, as well as gait pattern. Robot locomotion is considered by varying the length of the toe through dynamic emulation using Adams software (MSC company, USA). Three response results, walking distance, lateral distance, and angle of rotation, are compared to identify the optimum toe length for the robot. The control data generated by a gait function as a trigonometric function can be used as reference data in the control process.

元の言語English
ページ(範囲)599-603
ページ数5
ジャーナルInternational Journal of Mechanical Engineering and Robotics Research
7
発行部数6
DOI
出版物ステータスPublished - 2018 11 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence

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