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Foot placement modification for a biped humanoid robot with narrow feet.

Hashimoto K, Hattori K, Otani T, Lim HO, Takanishi A - ScientificWorldJournal (2014)

Bottom Line: And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside.To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot.Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R.

View Article: PubMed Central - PubMed

Affiliation: Waseda Research Institute for Science and Engineering, Waseda University, No. 41-304, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan.

ABSTRACT
This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot's feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion.

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WABIAN-2R (Waseda Bipedal Humanoid—No. 2 Refined).
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Related In: Results  -  Collection


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fig1: WABIAN-2R (Waseda Bipedal Humanoid—No. 2 Refined).

Mentions: We have developed a biped humanoid robot named WABIAN-2R (Waseda Bipedal Humanoid—No. 2 Refined) as a human motion simulator to mimic human's motions and mechanisms [1] (see Figure 1). Its height is 1480 mm with 63.8 kg weight, and it has 41 degrees of freedom. So far, WABIAN-2R has realized a stretch-knee gait by utilizing a 2-DOF (Roll, Yaw) waist mimicking a human's pelvic movement. WABIAN-2R has also achieved a human-like walk with the knee-stretched, heel-contact, and toe-off motion by utilizing a foot mechanism with a passive toe joint [2]. But the foot breadth is 160 mm and wider than human beings. The average foot breadth of humans is as narrow as 90 mm [3].


Foot placement modification for a biped humanoid robot with narrow feet.

Hashimoto K, Hattori K, Otani T, Lim HO, Takanishi A - ScientificWorldJournal (2014)

WABIAN-2R (Waseda Bipedal Humanoid—No. 2 Refined).
© Copyright Policy - open-access
Related In: Results  -  Collection

Show All Figures
getmorefigures.php?uid=PMC3926377&req=5

fig1: WABIAN-2R (Waseda Bipedal Humanoid—No. 2 Refined).
Mentions: We have developed a biped humanoid robot named WABIAN-2R (Waseda Bipedal Humanoid—No. 2 Refined) as a human motion simulator to mimic human's motions and mechanisms [1] (see Figure 1). Its height is 1480 mm with 63.8 kg weight, and it has 41 degrees of freedom. So far, WABIAN-2R has realized a stretch-knee gait by utilizing a 2-DOF (Roll, Yaw) waist mimicking a human's pelvic movement. WABIAN-2R has also achieved a human-like walk with the knee-stretched, heel-contact, and toe-off motion by utilizing a foot mechanism with a passive toe joint [2]. But the foot breadth is 160 mm and wider than human beings. The average foot breadth of humans is as narrow as 90 mm [3].

Bottom Line: And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside.To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot.Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R.

View Article: PubMed Central - PubMed

Affiliation: Waseda Research Institute for Science and Engineering, Waseda University, No. 41-304, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan.

ABSTRACT
This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot's feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion.

Show MeSH
Related in: MedlinePlus