The Effect of the Toe on the Biped Robot

Abstract:

Evaluation of 9-DOF biped robots based on designated smooth and stable trajectories with two added toes is a challenging problem that is the focus of this paper. Simultaneously rotation of feet and toes is considered, which allows the robot to walk more efficiently and like a human being. A desired trajectory for the lower body is designed to increase the stability margin. This obtained by fitting proper polynomials at appropriate break points. Then, the upper body motion is planned based on the Zero Moment Point (ZMP) criterion to provide a stable motion for the biped robot. Next, dynamics equations are obtained for both single support phase (SSP) and double support phase (DSP). On the other hand, two biped robots, which one accompanied by toes, are also compared. Simulation results reveal that the biped robots with toes have better stability margin, less power consumption and more vertical reaction force.

• Periodical: Applied Mechanics and Materials (Volumes 325-326)
• Pages: 1076-1082
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.325-326.1076
• Online since: June 2013
• Authors: Seyed Mehdi Torklarki, Mohammad Danesh
• Keywords: Biped Robots, Gait Planning, Stability, Trajectory

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