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Kinesiology-Based Robot Foot Design for Human-Like Walking : Progettazione di un piede robotico basata sullo studio della cinesiologia per una camminata simile a quella umana, in: International Journal of Advanced Robotic Systems |
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| Author |
Kwon, SangJoo; Park, Jinhee |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
Compared with the conventional flat foot, the
flexible foot is advantageous in implementing human‐like
walking and much reduces energy consumption. In this
paper, from an anatomical and kinesiological point of
view, a flexible foot with toes and heels is investigated for
a bipedal robot and three critical design parameters for
walking stability are drawn, which include stiffness of
toes and heels, frontal toe position, and ankle joint
position. In addition, a human‐like walking trajectory
compatible with the flexible foot is proposed by
mimicking a human walking pattern. First of all, the zero
moment point (ZMP) trajectory continuously moves
forward without stopping, even in the single support
phase. Secondly, the centre of mass (CoM) trajectory
includes vertical motion similar to that seen in human
beings. Thirdly, the ankle trajectory follows the rotational
motion of a human foot while being lifted from and
landing on the ground. Through the simulation study, it
is shown that the suggested design parameters can be
applied as useful indices for the mechanical design of
biped feet; interestingly, the vertical motion of the centre
of mass tends to compensate for the transient response in
the initial walking step. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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