TY - GEN
T1 - Knee constraint effects of bipedal walking by Visual-lifting Approach
AU - Imanishi, Hiroki
AU - Minami, Mamoru
AU - Yanou, Akira
AU - Nishiguchi, Jumpei
PY - 2014/10/23
Y1 - 2014/10/23
N2 - 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.
AB - 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.
KW - humanoid robot
KW - knee constraint
UR - http://www.scopus.com/inward/record.url?scp=84911926842&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911926842&partnerID=8YFLogxK
U2 - 10.1109/SICE.2014.6935221
DO - 10.1109/SICE.2014.6935221
M3 - Conference contribution
AN - SCOPUS:84911926842
T3 - Proceedings of the SICE Annual Conference
SP - 756
EP - 761
BT - Proceedings of the SICE Annual Conference
PB - Society of Instrument and Control Engineers (SICE)
T2 - 2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
Y2 - 9 September 2014 through 12 September 2014
ER -