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JACIII Vol.27 No.3 pp. 404-410
doi: 10.20965/jaciii.2023.p0404
(2023)

Research Paper:

Dynamics Simulation of Biped Robot with Arch Structure and Toe Joint

Reona Nekomoto* and Akinori Sekiguchi**,†

*Sustainable Engineering Program, Graduate School of Engineering, Tokyo University of Technology
1404-1 Katakura, Hachioji, Tokyo 192-0982, Japan

**Department of Mechanical Engineering, School of Engineering, Tokyo University of Technology
1404-1 Katakura, Hachioji, Tokyo 192-0982, Japan

Corresponding author

Received:
December 29, 2022
Accepted:
January 13, 2023
Published:
May 20, 2023
Keywords:
biped robot, foot arch structure, toe joint, dynamics simulation
Abstract

The arch structure of human foot absorbs impact and assists push-off movements during walking. The objective of this study is to introduce arch structures and toe joints into a biped robot, verify the effects, and devise walk control methods by dynamics simulation. We simulated the upright state and start of walking using Choreonoid. The results confirmed that the arch structure improved the impact absorption and stability in the anteroposterior direction. In addition, the arch structure could be expected to smooth the load transfer between the supporting legs during the step change.

Walking simulation with arch and toe

Walking simulation with arch and toe

Cite this article as:
R. Nekomoto and A. Sekiguchi, “Dynamics Simulation of Biped Robot with Arch Structure and Toe Joint,” J. Adv. Comput. Intell. Intell. Inform., Vol.27 No.3, pp. 404-410, 2023.
Data files:
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Last updated on Apr. 05, 2024