TY - JOUR
T1 - Study of bipedal locomotion considering property of toe mechanism
AU - Nguyen, Van Tinh
AU - Tao, Ngoc Linh
AU - Nguyen, Thanh Trung
AU - Bui, Ngoc Tam
N1 - Funding Information:
This research was funded by Hanoi University of Science and Technology (HUST) under project number T2020-TT-203.
Publisher Copyright:
© Published under licence by IOP Publishing Ltd.
PY - 2022/5/17
Y1 - 2022/5/17
N2 - Walking behaviour of the humanoid robot depends on many parameters of body structure, in which, the foot structure is one of the most important factors since it directly interacts with the environment in the locomotion. In this paper, joint characteristics of the robot's foot have been investigated for our further understanding of biped motion. These properties are stiffness and damping factor of spring of passive toe joints. The subject of this paper is a small humanoid robot named Kondo KHR-3HV belonging to the Kondo Kagaku company. The foot structure of the robot consists of a big toe and a tiptoe with passive joints using torsion spring. The effect of the structure property is collected and evaluated through dynamic simulation on Adams and analysis of variance (ANOVA).
AB - Walking behaviour of the humanoid robot depends on many parameters of body structure, in which, the foot structure is one of the most important factors since it directly interacts with the environment in the locomotion. In this paper, joint characteristics of the robot's foot have been investigated for our further understanding of biped motion. These properties are stiffness and damping factor of spring of passive toe joints. The subject of this paper is a small humanoid robot named Kondo KHR-3HV belonging to the Kondo Kagaku company. The foot structure of the robot consists of a big toe and a tiptoe with passive joints using torsion spring. The effect of the structure property is collected and evaluated through dynamic simulation on Adams and analysis of variance (ANOVA).
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U2 - 10.1088/1742-6596/2235/1/012068
DO - 10.1088/1742-6596/2235/1/012068
M3 - Conference article
AN - SCOPUS:85131169480
SN - 1742-6588
VL - 2235
JO - Journal of Physics: Conference Series
JF - Journal of Physics: Conference Series
IS - 1
M1 - 012068
T2 - 12th Asia Conference on Mechanical and Aerospace Engineering, ACMAE 2021
Y2 - 29 December 2021 through 31 December 2021
ER -