Title :
Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints
Author :
Sellaouti, Ramzi ; Stasse, Olivier ; Kajita, Shuuji ; YOKOI, Kazuhito ; Kheddar, Abderrahmane
Author_Institution :
JRL, AIST, Tsukuba
Abstract :
This paper addresses the role of toe joints in increasing the walking speed of biped robots. It is worthy that adding a toe joint will increase the step length thanks to the additional degree of freedom. But, the originality of this work is that longer steps are obtained thanks to an under-actuated phase and an appropriate ZMP trajectory. The simulations showed that adding passive toe joints allows smoother and 1.5 faster walking
Keywords :
humanoid robots; legged locomotion; position control; ZMP trajectory; biped robots; humanoid HRP-2; passive toe joints; underactuated phase; walking speed; Angular velocity; Anthropomorphism; Energy consumption; Foot; Ground support; Humanoid robots; Humans; Intelligent robots; Leg; Legged locomotion; Passive toe joint; Pattern generation; Under-actuated phase; Walking speed; ZMP trajectory;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282449
