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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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Related in: MedlinePlus

Waking experiments with the human-like foot mechanism. The walking cycle is 1.0 s/step and the step length is 450 mm/step.
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fig14: Waking experiments with the human-like foot mechanism. The walking cycle is 1.0 s/step and the step length is 450 mm/step.

Mentions: Secondly, the human-like foot mechanism was attached to WABAN-2R, and forward walking experiments were conducted with a step length of 450 mm/step and a walking cycle of 1.0 s/step. In this experiment, WABIAN-2R walked with the knee-stretched, heel-contact, and toe-off motion as shown in Figure 14. WABIAN-2R tends to fall to the inside because the medial longitudinal arch of the human-like foot mechanism is more elastic than the lateral longitudinal arch. Therefore, the proposed control works well in this situation.


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

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

Waking experiments with the human-like foot mechanism. The walking cycle is 1.0 s/step and the step length is 450 mm/step.
© Copyright Policy - open-access
Related In: Results  -  Collection

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

fig14: Waking experiments with the human-like foot mechanism. The walking cycle is 1.0 s/step and the step length is 450 mm/step.
Mentions: Secondly, the human-like foot mechanism was attached to WABAN-2R, and forward walking experiments were conducted with a step length of 450 mm/step and a walking cycle of 1.0 s/step. In this experiment, WABIAN-2R walked with the knee-stretched, heel-contact, and toe-off motion as shown in Figure 14. WABIAN-2R tends to fall to the inside because the medial longitudinal arch of the human-like foot mechanism is more elastic than the lateral longitudinal arch. Therefore, the proposed control works well in this situation.

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