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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yamane, K. Trutoiu, L. |
| Copyright Year | 2009 |
| Description | Author affiliation: Carnegie Mellon University, USA (Trutoiu, L.) || Disney Research, Pittsburgh, USA (Yamane, K.) |
| Abstract | This paper investigates the effect of foot shape on biped locomotion. In particular, we consider planar biped robots whose feet are composed of curved surfaces at toe and heel and a flat section between them. We developed an algorithm that can optimize the gait pattern for a set of foot shape, walk speed and step length. The optimization is formulated based on the rigid-body and collision dynamics of the robot model and tries to minimize the ankle torque. We also divide a step into two phases at collision events and optimize each phase separately with appropriate boundary conditions. Numerical experiments using walk parameters from human motion capture data suggest that having a curved toe and heel would be a way to realize locomotion at speeds comparable to human. |
| Starting Page | 230 |
| Ending Page | 236 |
| File Size | 5762819 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781424445974 |
| DOI | 10.1109/ICHR.2009.5379576 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-12-07 |
| Publisher Place | France |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Legged locomotion Knee Torque Shape Humans Humanoid robots Boundary conditions Robustness Trajectory Foot |
| Content Type | Text |
| Resource Type | Article |
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