Foot placement modification for a biped humanoid robot with narrow feet

Kenji Hashimoto, Kentaro Hattori, Takuya Otani, Hun Ok Lim, Atsuo Takanishi

    Research output: Contribution to journalArticle

    5 Citations (Scopus)

    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.

    Original languageEnglish
    Article number259570
    JournalThe Scientific World Journal
    Volume2014
    DOIs
    Publication statusPublished - 2014

    Fingerprint

    walking
    Foot
    Robots
    stabilization
    Walking
    Landing
    arch
    Stabilization
    compliance
    Compliance control
    Arches
    Knee
    Heel
    experiment
    Toes
    Compliance
    Experiments

    ASJC Scopus subject areas

    • Biochemistry, Genetics and Molecular Biology(all)
    • Environmental Science(all)
    • Medicine(all)

    Cite this

    Foot placement modification for a biped humanoid robot with narrow feet. / Hashimoto, Kenji; Hattori, Kentaro; Otani, Takuya; Lim, Hun Ok; Takanishi, Atsuo.

    In: The Scientific World Journal, Vol. 2014, 259570, 2014.

    Research output: Contribution to journalArticle

    @article{b14ec7b0916d4dd48da94a29effabb1b,
    title = "Foot placement modification for a biped humanoid robot with narrow feet",
    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.",
    author = "Kenji Hashimoto and Kentaro Hattori and Takuya Otani and Lim, {Hun Ok} and Atsuo Takanishi",
    year = "2014",
    doi = "10.1155/2014/259570",
    language = "English",
    volume = "2014",
    journal = "The Scientific World Journal",
    issn = "2356-6140",
    publisher = "Hindawi Publishing Corporation",

    }

    TY - JOUR

    T1 - Foot placement modification for a biped humanoid robot with narrow feet

    AU - Hashimoto, Kenji

    AU - Hattori, Kentaro

    AU - Otani, Takuya

    AU - Lim, Hun Ok

    AU - Takanishi, Atsuo

    PY - 2014

    Y1 - 2014

    N2 - 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.

    AB - 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.

    UR - http://www.scopus.com/inward/record.url?scp=84896895803&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=84896895803&partnerID=8YFLogxK

    U2 - 10.1155/2014/259570

    DO - 10.1155/2014/259570

    M3 - Article

    VL - 2014

    JO - The Scientific World Journal

    JF - The Scientific World Journal

    SN - 2356-6140

    M1 - 259570

    ER -