Referenced Items are not available for this document.
This paper describes our research efforts aimed in the analysis of the humanoid robot feet role during walking gait. To improve the humanoid robot walking performances, a dynamic simulation using ADAMS software is carried out. To analyze the foot model effects virtual locomotion system has been built. Four foot models are compared through two criteria: the total energy consumption and the normal contact force component. These models are plate, flexible, active and hybrid flexible active feet parts. Simulation results show the relative effects of the flexibility and the introduction of the active joint at the toes level. The results prove the efficiency of the flexible active foot model
Published in:
Humanoid Robots, 2005 5th IEEE-RAS International Conference on
Date of Conference: 5-5 Dec. 2005
- Page(s):
- 123 - 128
- Print ISBN:
- 0-7803-9320-1
- INSPEC Accession Number:
- 9045422
- Conference Location :
- Tsukuba
- Digital Object Identifier :
- 10.1109/ICHR.2005.1573556
- Product Type:
- Conference Publications
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
