@inproceedings{7c46bc8262b64b148a7ca17cb5ef83c4,
title = "Effect of ankle joint position on biped robot walking behaviour",
abstract = "This paper addresses the effect of ankle joint position on the walking behavior of a biped robot. The mentioned foot structure consists of a tiptoe and a big toe inspired by the human foot which have a crucial role on moving stability. The study subject is a small robot called Kondo KHR-3HV, belonging to the Kondo Kagaku Company. Due to the small size of the robot and considering a reduction in energy consumption in toe mechanism, a passive joint using torsion spring was selected as a toe joint. The gait generation method, for finding the proper position of ankle joint, is used by varying the ankle joint position. There are two requirements of robot design: go straight and stay within setting conditions. The paper is implemented by two stages. First, the biped robot locomotion is considered by different stiffness coefficients to find out what is the proper stiffness coefficient. In the second stage, the simulation of all small biped robot models which have the different ankle joint position, can walk within setting conditions, is implemented. The results are compared to the human ankle joint trajectory in gait performance and frequency and are confirmed by dynamic simulation on Adams (MSC company, USA).",
keywords = "Ankle joint position, Big toe, Biped robot, Torsion spring, Walking behavior",
author = "Nguyen, {Van Tinh} and Tao, {Ngoc Linh} and Hiroshi Hasegawa",
note = "Publisher Copyright: {\textcopyright} Copyright 2017 by CAL-TEK S.r.l. All rights reserved.; 16th International Conference on Modeling and Applied Simulation, MAS 2017 ; Conference date: 18-09-2017 Through 20-09-2017",
year = "2017",
language = "English",
series = "16th International Conference on Modeling and Applied Simulation, MAS 2017, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2017",
publisher = "CAL-TEK S.r.l.",
pages = "14--20",
editor = "Bruzzone, {Agostino G.} and Adriano Solis and Marina Massei and {De Felice}, Fabio and Francesco Longo and Claudia Frydman",
booktitle = "16th International Conference on Modeling and Applied Simulation, MAS 2017, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2017",
}