Effect of toe length on biped walking behavior

Van Tinh Nguyen, Hiroshi Hasegawa

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


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 languageEnglish
Pages (from-to)599-603
Number of pages5
JournalInternational Journal of Mechanical Engineering and Robotics Research
Issue number6
Publication statusPublished - 2018 Nov 1


  • Foot structure
  • Gait pattern
  • Humanoid robot
  • Locomotion
  • Toe length

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence


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