Gait pattern generation with knee stretch motion for biped robot using toe and heel joints

@article{Handharu2008GaitPG,
  title={Gait pattern generation with knee stretch motion for biped robot using toe and heel joints},
  author={Nandha Handharu and Jungwon Yoon and Gabsoon Kim},
  journal={Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots},
  year={2008},
  pages={265-270}
}
This paper presents a new alternative methodology to generate gait pattern with a knee stretched motion for biped robot utilizing toe and heel joints. During walking sequence, human heels act as passive joints that create some support area which enhances the stability of human walking. This research tries to replace human-heel like mechanism with a heel joint in the biped robot foot. The existence of heel joints in the biped robot feet has two main advantages. The first one is that the support… CONTINUE READING

Citations

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Trajectory planning and control for biped robot with toe and heel joints

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Resolved Viscoelasticity Control Considering Singularity for Knee-stretched Walking of a Humanoid

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