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

^*此作品的通讯作者

机电学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

5 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
页	167-172
页数	6
DOI	https://doi.org/10.1109/ROBIO.2010.5723321
出版状态	已出版 - 2010
活动	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, 中国期限: 14 12月 2010 → 18 12月 2010

出版系列

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

会议

会议	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
国家/地区	中国
市	Tianjin
时期	14/12/10 → 18/12/10

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1109/ROBIO.2010.5723321

其它文件与链接

链接到 Scopus 的出版物

引用此

@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. 在 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010., 5723321, 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, 页码 167-172, 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, Tianjin, 中国, 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 等.
2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. 2010. 页码 167-172 5723321 (2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Simulation of humanoid motion based on the foot with one active joint

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.

UR - https://www.scopus.com/pages/publications/79952909419

U2 - 10.1109/ROBIO.2010.5723321

DO - 10.1109/ROBIO.2010.5723321

M3 - Conference contribution

AN - SCOPUS:79952909419

SN - 9781424493173

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

SP - 167

EP - 172

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

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

指纹

引用此