Knee constraint effects of bipedal walking by Visual-lifting Approach

Hiroki Imanishi, Mamoru Minami, Akira Yanou, Jumpei Nishiguchi

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

Abstract

Recently, a lot of biped robots are being investigated and developed. Although humans walk with their knees extending, humanoid robots walk with their knees bending. Walking with their knees bending has advantages that it is not needed to consider the complex models such as toe and heel, and the area of bottom of foot can increase to keep walking stable. However, walking with knees extending can reduce energy and be closed to natural walking. Moreover, length of stride can also increase when knee is full extended. Therefore, it is necessary to make humanoid robot with knee constraint to extend the knee in walking. In this paper, we make humanoid robot with human's knees structure which has a constraint of knee joint angle motion through simulation and investigated its influence to humanoid walking.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
PublisherSociety of Instrument and Control Engineers (SICE)
Pages756-761
Number of pages6
ISBN (Electronic)9784907764463
DOIs
Publication statusPublished - Oct 23 2014
Event2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo, Japan
Duration: Sep 9 2014Sep 12 2014

Publication series

NameProceedings of the SICE Annual Conference

Other

Other2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
CountryJapan
CitySapporo
Period9/9/149/12/14

Keywords

  • humanoid robot
  • knee constraint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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