Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet
This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot’s feet are as narrow as humans, it is difficult to realize a stable walk by using conventiona...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/259570 |
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| author | Kenji Hashimoto Kentaro Hattori Takuya Otani Hun-Ok Lim Atsuo Takanishi |
| author_facet | Kenji Hashimoto Kentaro Hattori Takuya Otani Hun-Ok Lim Atsuo Takanishi |
| author_sort | Kenji Hashimoto |
| collection | DOAJ |
| description | This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot’s feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion. |
| format | Article |
| id | doaj-art-1325be410a554c6b89cded3ffa75aa3f |
| institution | OA Journals |
| issn | 2356-6140 1537-744X |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-1325be410a554c6b89cded3ffa75aa3f2025-08-20T02:01:41ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/259570259570Foot Placement Modification for a Biped Humanoid Robot with Narrow FeetKenji Hashimoto0Kentaro Hattori1Takuya Otani2Hun-Ok Lim3Atsuo Takanishi4Waseda Research Institute for Science and Engineering, Waseda University, No. 41-304, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, JapanGraduate School of Science and Engineering, Waseda University, No. 41-304, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, JapanGraduate School of Science and Engineering, Waseda University, No. 41-304, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, JapanFaculty of Engineering, Kanagawa University, 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama 221-8686, JapanHumanoid Robotics Institute (HRI), Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, JapanThis paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot’s feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion.http://dx.doi.org/10.1155/2014/259570 |
| spellingShingle | Kenji Hashimoto Kentaro Hattori Takuya Otani Hun-Ok Lim Atsuo Takanishi Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet The Scientific World Journal |
| title | Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet |
| title_full | Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet |
| title_fullStr | Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet |
| title_full_unstemmed | Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet |
| title_short | Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet |
| title_sort | foot placement modification for a biped humanoid robot with narrow feet |
| url | http://dx.doi.org/10.1155/2014/259570 |
| work_keys_str_mv | AT kenjihashimoto footplacementmodificationforabipedhumanoidrobotwithnarrowfeet AT kentarohattori footplacementmodificationforabipedhumanoidrobotwithnarrowfeet AT takuyaotani footplacementmodificationforabipedhumanoidrobotwithnarrowfeet AT hunoklim footplacementmodificationforabipedhumanoidrobotwithnarrowfeet AT atsuotakanishi footplacementmodificationforabipedhumanoidrobotwithnarrowfeet |