Simulation of humanoid motion based on the foot with one active joint

Weimin Zhang; Fei Chen; Mingbo Li; Qiang Huang

doi:10.1109/ROBIO.2010.5723321

Simulation of humanoid motion based on the foot with one active joint

Weimin Zhang^*, Fei Chen, Mingbo Li, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

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

5 Citations (Scopus)

Abstract

This paper describes a foot with an active joint. Based on the humanoid robot BHR3, the foot structure with active toes joint is designed, gait plan with heel uplifting and toe supporting is developed, and the gait is feasible according to multi-body system dynamics simulation. Compared with the foot without joint, the gait introduced in this paper is more natural, as well as more stable. At the same time, it will play a better performance on joints torque, rotate range, and energy consumption.

Original language	English
Title of host publication	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Pages	167-172
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2010.5723321
Publication status	Published - 2010
Event	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China Duration: 14 Dec 2010 → 18 Dec 2010

Publication series

Name	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

Conference

Conference	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Country/Territory	China
City	Tianjin
Period	14/12/10 → 18/12/10

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This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/ROBIO.2010.5723321

Cite this

@inproceedings{dac4dbbc5d0c40f6897951203a7868cb,

title = "Simulation of humanoid motion based on the foot with one active joint",

abstract = "This paper describes a foot with an active joint. Based on the humanoid robot BHR3, the foot structure with active toes joint is designed, gait plan with heel uplifting and toe supporting is developed, and the gait is feasible according to multi-body system dynamics simulation. Compared with the foot without joint, the gait introduced in this paper is more natural, as well as more stable. At the same time, it will play a better performance on joints torque, rotate range, and energy consumption.",

author = "Weimin Zhang and Fei Chen and Mingbo Li and Qiang Huang",

year = "2010",

doi = "10.1109/ROBIO.2010.5723321",

language = "English",

isbn = "9781424493173",

series = "2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010",

pages = "167--172",

booktitle = "2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010",

note = "2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 ; Conference date: 14-12-2010 Through 18-12-2010",

}

Zhang, W, Chen, F, Li, M & Huang, Q 2010, Simulation of humanoid motion based on the foot with one active joint. in 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010., 5723321, 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, pp. 167-172, 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, Tianjin, China, 14/12/10. https://doi.org/10.1109/ROBIO.2010.5723321

Simulation of humanoid motion based on the foot with one active joint. / Zhang, Weimin; Chen, Fei; Li, Mingbo et al.
2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. 2010. p. 167-172 5723321 (2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010).

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

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AU - Zhang, Weimin

AU - Chen, Fei

AU - Li, Mingbo

AU - Huang, Qiang

PY - 2010

Y1 - 2010

N2 - This paper describes a foot with an active joint. Based on the humanoid robot BHR3, the foot structure with active toes joint is designed, gait plan with heel uplifting and toe supporting is developed, and the gait is feasible according to multi-body system dynamics simulation. Compared with the foot without joint, the gait introduced in this paper is more natural, as well as more stable. At the same time, it will play a better performance on joints torque, rotate range, and energy consumption.

AB - This paper describes a foot with an active joint. Based on the humanoid robot BHR3, the foot structure with active toes joint is designed, gait plan with heel uplifting and toe supporting is developed, and the gait is feasible according to multi-body system dynamics simulation. Compared with the foot without joint, the gait introduced in this paper is more natural, as well as more stable. At the same time, it will play a better performance on joints torque, rotate range, and energy consumption.

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DO - 10.1109/ROBIO.2010.5723321

M3 - Conference contribution

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T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

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BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

Y2 - 14 December 2010 through 18 December 2010

ER -

Simulation of humanoid motion based on the foot with one active joint

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