Influence Analysis of Toe-joint on Biped Gaits

Author

Wang, Liquan ; Yu, Zhiwei ; Meng, Qingxin ; Zhang, Zhonglin

Author_Institution

Coll. of Mech. & Electr. Eng., Harbin Eng. Univ.

fYear

2006

fDate

25-28 June 2006

Firstpage

1631

Lastpage

1635

Abstract

In sagittal plane, 8-link model of biped with toe-joint is established and predigested into inverted pendulum. Inverse kinematics of single leg is analyzed, and Lagrange locomotion equation is established. The barycenter point motion track in space is presented and the effect of the gait with toe-joint in single leg supporting phase is analyzed by kinematics and dynamics simulation in Matlab. Through comparing gaits with toe-joint with which without toe-joint, the result shows that biped robot with toe-joint is more advanced in following aspects: walking step, walking speed, range of joint angle and the changing of angle velocity, joint energy-output and so on. The effect of toe-joint in biped walking robot is analyzed in theory. It is the base for gait design on impersonate robot

Keywords

legged locomotion; nonlinear control systems; pendulums; robot kinematics; Lagrange locomotion equation; barycenter point motion track; biped gaits; biped walking robot; influence analysis; inverse kinematics; inverted pendulum; toe-joint; Analytical models; Equations; Kinematics; Lagrangian functions; Leg; Legged locomotion; Mathematical model; Motion analysis; Orbital robotics; Tracking; Biped Robot; Hominine Gait; Motion Simulation; Toe-Joint;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257440

Filename

4026335