NDLI: Development of a biped robot with toes to improve gait pattern

Content Provider	IEEE Xplore Digital Library
Author	Cheol Ki Ahn Min Cheol Lee Seok Jo Go
Copyright Year	2003
Description	Author affiliation: Graduate Sch. of Mechatronics, Pusan Nat. Univ., South Korea (Cheol Ki Ahn)
Abstract	Since a conventional biped robot has the feet which consist of soles without toes, it seems difficult to walk naturally. One of the most important functions of a biped robot is to walk naturally like human. However, for the human being, toe is very important joint in order to walk naturally. Therefore, for a biped robot, the existence of toe joint much affects gait pattern generation and contributes to natural walking, which is similar to the human gait or faster walking like running. In this paper, a physical structure of a biped robot with toes is developed. The robot has 14 degrees of freedom for the legs. In order to verify the plausibility of the robot design with toes, the effect of the toe joint for gait pattern generation is studied. The gait pattern of the robot with toes is compared with the gait of a conventional biped robot which has soles only without toes by 3D graphical simulation.
Sponsorship	IEEE Ind. Electron. Soc.(IES) IEEE Robotics & Autom. Soc. (RAS) ASME Dynamic Syst. & Control Div. (DSC)
Starting Page	729
Ending Page	734
File Size	565396
Page Count	6
File Format	PDF
ISBN	0780377591
DOI	10.1109/AIM.2003.1225433
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-07-20
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Legged locomotion Mobile robots Humans Leg Humanoid robots Stability analysis Mechatronics Mechanical engineering Design engineering
Content Type	Text
Resource Type	Article

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