Dynamics Simulation of Biped Robot with Arch Structure and Toe Joint-Reference-Cited by-同舟云学术

Dynamics Simulation of Biped Robot with Arch Structure and Toe Joint

Published:2023-05-20 Issue:3 Volume:27 Page:404-410
ISSN:1883-8014
Container-title:Journal of Advanced Computational Intelligence and Intelligent Informatics
language:en
Short-container-title:JACIII

Author:

Nekomoto Reona¹,Sekiguchi Akinori²

Affiliation:

1. Sustainable Engineering Program, Graduate School of Engineering, Tokyo University of Technology, 1404-1 Katakura, Hachioji, Tokyo 192-0982, Japan

2. Department of Mechanical Engineering, School of Engineering, Tokyo University of Technology, 1404-1 Katakura, Hachioji, Tokyo 192-0982, Japan

Abstract

The arch structure of human foot absorbs impact and assists push-off movements during walking. The objective of this study is to introduce arch structures and toe joints into a biped robot, verify the effects, and devise walk control methods by dynamics simulation. We simulated the upright state and start of walking using Choreonoid. The results confirmed that the arch structure improved the impact absorption and stability in the anteroposterior direction. In addition, the arch structure could be expected to smooth the load transfer between the supporting legs during the step change.

Publisher

Fuji Technology Press Ltd.

Subject

Artificial Intelligence,Computer Vision and Pattern Recognition,Human-Computer Interaction

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