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

被引：43

作者：

Sellaouti, Ramzi ^{[1
]}

Stasse, Olivier ^{[2
]}

Kajita, Shuuji ^{[3
]}

Yokoi, Kazuhito ^{[1
]}

Kheddar, Abderrahmane ^{[2
]}

机构：

[1] AIST, JRL, AIST Cent 2,1-1-1 Umezono, Tsukuba, Ibaraki 3058568, Japan

[2] CNRS, JRL, AIST Cent 2,1-1-1 Umezono, Tsukuba, Ibaraki 3058568, Japan

[3] AIST, HRG, AIST Cent 2,1-1-1 Umezono, Tsukuba, Ibaraki 3058568, Japan

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

passive toe joint; under-actuated phase; pattern generation; ZMP trajectory; walking speed;

D O I：

10.1109/IROS.2006.282449

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：4909 / +

页数：2

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