Title :
A study of flexible shoe system for biped robot
Author :
Minakata, Hideaki
Author_Institution :
Dept. of Electr. Electron. & Comput. Eng., Chiba Inst. of Technol., Narashino, Japan
Abstract :
We have extended the idea of passive walking from the viewpoint of energetic efficiency, to realize medical, nursing and home-use robots. In this paper, we propose flexible shoe system to apply passive walking manner to ordinary humanoid biped. This flexible shoe system works as an arc-shaped foot. Besides, a 2DOF(Feedforward & Feedback) control scheme is used in this system, that realizes walking with less ankle torque. Computer simulation study confirmed that this shoe system reduces about 80% of energy consumption of ankle joint in some cases. Using an actual small biped, we also confirmed that suitable stiffness shoes reduce about 8% of walking energy of the robot.
Keywords :
feedback; feedforward; legged locomotion; torque control; 2DOF feedback control scheme; 2DOF feedforward control scheme; ankle joint; ankle torque; arc-shaped foot; biped robot; computer simulation; energy consumption; flexible shoe system; home use robots; humanoid biped; medical robot; nursing robots; passive walking; stiffness shoes; walking energy; Control systems; Feedback; Foot; Footwear; Legged locomotion; Medical control systems; Medical robotics; Medical services; Robots; Torque control;
Conference_Titel :
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN :
0-7803-8300-1
DOI :
10.1109/AMC.2004.1297900
