Effect of toe length on biped walking behavior

Van Tinh Nguyen; Hiroshi Hasegawa

doi:10.18178/ijmerr.7.6.599-603

Effect of toe length on biped walking behavior

Van Tinh Nguyen, Hiroshi Hasegawa

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	599-603
Number of pages	5
Journal	International Journal of Mechanical Engineering and Robotics Research
Volume	7
Issue number	6
DOIs	https://doi.org/10.18178/ijmerr.7.6.599-603
Publication status	Published - 2018 Nov 1

Keywords

Foot structure
Gait pattern
Humanoid robot
Locomotion
Toe length

ASJC Scopus subject areas

Control and Systems Engineering
Mechanical Engineering
Artificial Intelligence

Access to Document

10.18178/ijmerr.7.6.599-603

Cite this

@article{448948d2405a41629d6e9d205b52ad2b,

title = "Effect of toe length on biped walking behavior",

abstract = "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.",

keywords = "Foot structure, Gait pattern, Humanoid robot, Locomotion, Toe length",

author = "Nguyen, {Van Tinh} and Hiroshi Hasegawa",

note = "Publisher Copyright: {\textcopyright} 2018 Int. J. Mech. Eng. Rob. Res.",

year = "2018",

month = nov,

day = "1",

doi = "10.18178/ijmerr.7.6.599-603",

language = "English",

volume = "7",

pages = "599--603",

journal = "International Journal of Mechanical Engineering and Robotics Research",

issn = "2278-0149",

publisher = "International Journal of Mechanical Engineering and Robotics Research",

number = "6",

}

TY - JOUR

T1 - Effect of toe length on biped walking behavior

AU - Nguyen, Van Tinh

AU - Hasegawa, Hiroshi

PY - 2018/11/1

Y1 - 2018/11/1

N2 - 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.

AB - 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.

KW - Foot structure

KW - Gait pattern

KW - Humanoid robot

KW - Locomotion

KW - Toe length

UR - http://www.scopus.com/inward/record.url?scp=85056600450&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85056600450&partnerID=8YFLogxK

U2 - 10.18178/ijmerr.7.6.599-603

DO - 10.18178/ijmerr.7.6.599-603

M3 - Article

AN - SCOPUS:85056600450

SN - 2278-0149

VL - 7

SP - 599

EP - 603

JO - International Journal of Mechanical Engineering and Robotics Research

JF - International Journal of Mechanical Engineering and Robotics Research

IS - 6

ER -

Effect of toe length on biped walking behavior

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this