DocumentCode :
2627815
Title :
Human-Oriented Biped Robot Design: Insights into the Development of a truly Anthropomorphic Leg
Author :
Gini, Giuseppina ; Scarfogliero, Umberto ; Folgheraiter, Michele
Author_Institution :
Dept. of Electron. & Inf., Politecnico di Milano
fYear :
2007
fDate :
10-14 April 2007
Firstpage :
2910
Lastpage :
2915
Abstract :
In this paper we present a human-oriented approach to the study of the biped gait for a humanoid robot. Starting from the analysis of the human lower-limbs, we figured out which features of the human legs are fundamental for a correct walking motion and can be adopted in the mechanical design of a humanoid robot. In particular we focus here on the knee, designed as a compliant human-like knee instead of a classical pin-joint. For the foot we tried to reproduce in a simple mechanical device the mobility and lightness of the human foot, which is very different from a flat surface and has a big impact on walking. We complete the presentation with considerations about the energy consumption of our humanoid design. In our approach the robot gains in adaptability and energetic efficiency, which are the most challenging issues for a biped robot.
Keywords :
humanoid robots; legged locomotion; anthropomorphic leg; biped gait analysis; human-like knee; human-oriented biped robot design; humanoid robot; mechanical design; walking motion; Anthropomorphism; Foot; Humanoid robots; Humans; Knee; Leg; Legged locomotion; Mobile robots; Robotics and automation; Service robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
ISSN :
1050-4729
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2007.363913
Filename :
4209531
Link To Document :
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