Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot

被引：138

作者：

Ogura, Yu ^{[1
]}

Shimomura, Kazushi ^{[1
]}

Kondo, Hideki ^{[1
]}

Morishima, Akitoshi ^{[1
]}

Okubo, Tatsu ^{[1
]}

Momoki, Shimpei ^{[1
]}

Lim, Hun-ok ^{[2
]}

Takanishi, Atsuo ^{[3
]}

机构：

[1] Waseda Univ, Grad Sch Sci & Engn, Tokyo, Japan

[2] Kanagawa Univ, Dept Mech Engn, Yokohama, Kanagawa, Japan

[3] Waseda Univ, Humanoid Robot Inst, Dept Mech Engn, Tokyo, Japan

来源：

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

关键词：

Robot Design; Humanoid Robot; Biped Robot; Stretch Walking; heel-contact and toe-off motions;

D O I：

10.1109/IROS.2006.281834

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A humanoid robot, WABIAN-2R, capable of human-like walk with stretched knees and heel-contact and toe-off motions is proposed in this paper. WABIAN-2R has two 1-DOF passive joints in its feet to enable it to bend its toes in steady walking. Further, it has two 6-DOF legs, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, a new algorithm for generating walking patterns with stretched knees and heel contact and toe-off motions based on the ZMP criterion is described. In this pattern generation, some parameters of the foot trajectories of a biped robot are optimized by using a genetic algorithm in order to generate a continuous and smooth leg motion. Software simulations and walking experiments are conducted, and the effectiveness of the pattern generation and mechanism of WABIAN-2R, which have the ability to realize more human-like walking styles in a humanoid robot, are confirmed.

引用

页码：3976 / +

页数：2

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