Title :
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.
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;
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
DOI :
10.1109/ICMA.2006.257440
