Human-Like Walking: Optimal Motion of a Bipedal Robot With Toe-Rotation Motion

@article{Tlalolini2011HumanLikeWO,
  title={Human-Like Walking: Optimal Motion of a Bipedal Robot With Toe-Rotation Motion},
  author={David Tlalolini and Christine Chevallereau and Yannick Aoustin},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2011},
  volume={16},
  pages={310-320}
}
Fast human walking includes a phase where the stance heel rises from the ground and the stance foot rotates about the stance toe. This phase where the biped becomes underactuated is not present during the walk of current humanoid robots. The objective of this study is to determine whether the introduction of this phase for a 3-D bipedal robot is useful to reduce the energy consumed in the walking. In order to study the efficiency of this new gait, two cyclic gaits are presented. The first… CONTINUE READING

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