Study of bipedal locomotion considering property of toe mechanism

Van Tinh Nguyen, Ngoc Linh Tao, Thanh Trung Nguyen, Ngoc Tam Bui

研究成果: Conference article査読


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).

ジャーナルJournal of Physics: Conference Series
出版ステータスPublished - 2022 5月 17
イベント12th Asia Conference on Mechanical and Aerospace Engineering, ACMAE 2021 - Virtual, Online
継続期間: 2021 12月 292021 12月 31

ASJC Scopus subject areas

  • 物理学および天文学(全般)


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