Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot

Yu Ogura, Kazushi Shimomura, Hideki Kondo, Akitoshi Morishima, Tatsu Okubo, Shimpei Momoki, Hun Ok Lim, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    138 Citations (Scopus)

    Abstract

    A humanoid robot, WABIAN-2R, capable of human-like walk with stretched knees and heel-contact and toe-off motions is proposed in this paper. WABIAN-2R has two 1-DOF passive joints in its feet to enable it to bend its toes in steady walking. Further, it has two 6-DOF legs, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, a new algorithm for generating walking patterns with stretched knees and heel-contact and toe-off motions based on the ZMP criterion is described. In this pattern generation, some parameters of the foot trajectories of a biped robot are optimized by using a genetic algorithm in order to generate a continuous and smooth leg motion. Software simulations and walking experiments are conducted, and the effectiveness of the pattern generation and mechanism of WABIAN-2R, which have the ability to realize more human-like walking styles in a humanoid robot, are confirmed.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Pages3976-3981
    Number of pages6
    DOIs
    Publication statusPublished - 2006
    Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing
    Duration: 2006 Oct 92006 Oct 15

    Other

    Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    CityBeijing
    Period06/10/906/10/15

    Fingerprint

    Robots
    Genetic algorithms
    Trajectories
    Experiments

    Keywords

    • Biped robot
    • Heel-contact and toe-off motions
    • Humanoid robot
    • Robot design
    • Stretch walking

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Ogura, Y., Shimomura, K., Kondo, H., Morishima, A., Okubo, T., Momoki, S., ... Takanishi, A. (2006). Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot. In IEEE International Conference on Intelligent Robots and Systems (pp. 3976-3981). [4059029] https://doi.org/10.1109/IROS.2006.281834

    Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot. / Ogura, Yu; Shimomura, Kazushi; Kondo, Hideki; Morishima, Akitoshi; Okubo, Tatsu; Momoki, Shimpei; Lim, Hun Ok; Takanishi, Atsuo.

    IEEE International Conference on Intelligent Robots and Systems. 2006. p. 3976-3981 4059029.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Ogura, Y, Shimomura, K, Kondo, H, Morishima, A, Okubo, T, Momoki, S, Lim, HO & Takanishi, A 2006, Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot. in IEEE International Conference on Intelligent Robots and Systems., 4059029, pp. 3976-3981, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, 06/10/9. https://doi.org/10.1109/IROS.2006.281834
    Ogura Y, Shimomura K, Kondo H, Morishima A, Okubo T, Momoki S et al. Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot. In IEEE International Conference on Intelligent Robots and Systems. 2006. p. 3976-3981. 4059029 https://doi.org/10.1109/IROS.2006.281834
    Ogura, Yu ; Shimomura, Kazushi ; Kondo, Hideki ; Morishima, Akitoshi ; Okubo, Tatsu ; Momoki, Shimpei ; Lim, Hun Ok ; Takanishi, Atsuo. / Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot. IEEE International Conference on Intelligent Robots and Systems. 2006. pp. 3976-3981
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