Effect of Toe Length on Biped Walking Behavior

Van-Tinh Nguyen 1,2 and Hiroshi Hasegawa 1
1. Graduate School of Engineering and Science, Shibaura Institute of Technology, Japan
2. School of Mechanical Engineering, Hanoi University of Science and Technology, Vietnam
Abstract—This paper presents the effect of toe length on the walking behavior of a humanoid robot. This research is conducted using the KHR-3HV, a humanoid robot manufactured by the Kondo Kagaku company. Research results show that toe length sensitively results in the change of the walking distance, lateral distance, as well as gait pattern. Robot locomotion is considered by varying the length of the toe through dynamic emulation using Adams software (MSC company, USA). Three response results, walking distance, lateral distance, and angle of rotation, are compared to identify the optimum toe length for the robot. The control data generated by a gait function as a trigonometric function can be used as reference data in the control process.

Index Terms—humanoid robot, toe length, gait pattern, foot structure, locomotion

Cite: Van-Tinh Nguyen and Hiroshi Hasegawa, "Effect of Toe Length on Biped Walking Behavior," International Journal of Mechanical Engineering and Robotics Research, Vol. 7, No. 6, pp. 599-603, November 2018. DOI: 10.18178/ijmerr.7.6.599-603
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