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

145 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 publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages3976-3981
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

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