The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2013
Session ID : 2P1-B01
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2P1-B01 Role Analysis of the Toe Joint in Fast Biped Walking(Humanoid)
Takanobu ITOTomohiro NISHIKAWAChi ZHU
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
In this paper, first the role of the toe joint for fast biped walking is analyzed. With this result, the motion of the toe joint is designed and the simulation is implemented. The results show both the angular velocity and the joint torque of the knee joint can be greatly suppressed by using the toe joint. Therefore, the biped walking speed can be expected to be raised with the help of the toe joint.
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© 2013 The Japan Society of Mechanical Engineers
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