Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot

Yu Ogura; Kazushi Shimomura; Hideki Kondo; Akitoshi Morishima; Tatsu Okubo; Shimpei Momoki; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/IROS.2006.281834

Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot

Yu Ogura^*, Kazushi Shimomura, Hideki Kondo, Akitoshi Morishima, Tatsu Okubo, Shimpei Momoki, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

167 Citations (Scopus)

Abstract

A humanoid robot, WABIAN-2R, capable of human-like walk with stretched knees and heel-contact and toe-off motions is proposed in this paper. WABIAN-2R has two 1-DOF passive joints in its feet to enable it to bend its toes in steady walking. Further, it has two 6-DOF legs, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, a new algorithm for generating walking patterns with stretched knees and heel-contact and toe-off motions based on the ZMP criterion is described. In this pattern generation, some parameters of the foot trajectories of a biped robot are optimized by using a genetic algorithm in order to generate a continuous and smooth leg motion. Software simulations and walking experiments are conducted, and the effectiveness of the pattern generation and mechanism of WABIAN-2R, which have the ability to realize more human-like walking styles in a humanoid robot, are confirmed.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	3976-3981
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2006.281834
Publication status	Published - 2006 Dec 1
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 2006 Oct 9 → 2006 Oct 15

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/Territory	China
City	Beijing
Period	06/10/9 → 06/10/15

Keywords

Biped robot
Heel-contact and toe-off motions
Humanoid robot
Robot design
Stretch walking

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2006.281834

Cite this

Ogura, Y., Shimomura, K., Kondo, H., Morishima, A., Okubo, T., Momoki, S., Lim, H. O., & Takanishi, A. (2006). Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 3976-3981). [4059029] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281834

Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot. / Ogura, Yu; Shimomura, Kazushi; Kondo, Hideki et al.
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 3976-3981 4059029 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ogura, Y, Shimomura, K, Kondo, H, Morishima, A, Okubo, T, Momoki, S, Lim, HO & Takanishi, A 2006, Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4059029, IEEE International Conference on Intelligent Robots and Systems, pp. 3976-3981, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 06/10/9. https://doi.org/10.1109/IROS.2006.281834

Ogura Y, Shimomura K, Kondo H, Morishima A, Okubo T, Momoki S et al. Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 3976-3981. 4059029. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2006.281834

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abstract = "A humanoid robot, WABIAN-2R, capable of human-like walk with stretched knees and heel-contact and toe-off motions is proposed in this paper. WABIAN-2R has two 1-DOF passive joints in its feet to enable it to bend its toes in steady walking. Further, it has two 6-DOF legs, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, a new algorithm for generating walking patterns with stretched knees and heel-contact and toe-off motions based on the ZMP criterion is described. In this pattern generation, some parameters of the foot trajectories of a biped robot are optimized by using a genetic algorithm in order to generate a continuous and smooth leg motion. Software simulations and walking experiments are conducted, and the effectiveness of the pattern generation and mechanism of WABIAN-2R, which have the ability to realize more human-like walking styles in a humanoid robot, are confirmed.",

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AU - Momoki, Shimpei

AU - Lim, Hun Ok

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AB - A humanoid robot, WABIAN-2R, capable of human-like walk with stretched knees and heel-contact and toe-off motions is proposed in this paper. WABIAN-2R has two 1-DOF passive joints in its feet to enable it to bend its toes in steady walking. Further, it has two 6-DOF legs, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, a new algorithm for generating walking patterns with stretched knees and heel-contact and toe-off motions based on the ZMP criterion is described. In this pattern generation, some parameters of the foot trajectories of a biped robot are optimized by using a genetic algorithm in order to generate a continuous and smooth leg motion. Software simulations and walking experiments are conducted, and the effectiveness of the pattern generation and mechanism of WABIAN-2R, which have the ability to realize more human-like walking styles in a humanoid robot, are confirmed.

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Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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