Faster and smoother walking of humanoid HRP-2 with passive toe joints

Ramzi Sellaouti; Olivier Stasse; Shuuji Kajita; Kazuhito Yokoi; Abderrahmane Kheddar; IEEE

doi:10.1109/IROS.2006.282449

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Faster and smoother walking of humanoid HRP-2 with passive toe joints

Ramzi Sellaouti, Olivier Stasse, Shuuji Kajita, Kazuhito Yokoi, Abderrahmane Kheddar et IEEE

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems : Beijing, China, 9-13 October 2006, pp.4909-4914

01/01/2006

DOI: https://doi.org/10.1109/IROS.2006.282449

Résumé

Automation & Control Systems

Computer Science

Computer Science, Artificial Intelligence

Robotics

Science & Technology

Technology

This paper addresses the role of toe joints in increasing the walking speed of biped robots. It is worthy that adding a toe joint will increase the step length thanks to the additional degree of freedom. But, the originality of this work is that longer steps are obtained thanks to an under-actuated phase and an appropriate ZMP trajectory. The simulations showed that adding passive toe joints allows smoother and 1.5 faster walking.

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Détails

Titre: Faster and smoother walking of humanoid HRP-2 with passive toe joints
Créateurs - sans rôle: Ramzi Sellaouti - AIST, JRL, AIST Cent 2,1-1-1 Umezono, Tsukuba, Ibaraki 3058568, Japan
Olivier Stasse - CNRS, JRL, AIST Cent 2,1-1-1 Umezono, Tsukuba, Ibaraki 3058568, Japan
Shuuji Kajita - AIST, HRG, AIST Cent 2,1-1-1 Umezono, Tsukuba, Ibaraki 3058568, Japan
Kazuhito Yokoi - AIST, JRL, AIST Cent 2,1-1-1 Umezono, Tsukuba, Ibaraki 3058568, Japan
Abderrahmane Kheddar - CNRS, JRL, AIST Cent 2,1-1-1 Umezono, Tsukuba, Ibaraki 3058568, Japan
IEEE
Détails de publication: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems : Beijing, China, 9-13 October 2006, pp.4909-4914
Éditeur: IEEE
Nombre de pages: 2
Note de subvention: Post-doctoral of Japan Society for Promotion of Science (JSPS)
Identifiants: 99139245409311
Unité académique: Laboratoire d'Informatique de Robotique et de Microélectronique de Mtp - LIRMM
Langue: English
Type de ressource: Conference proceeding