Emulation of Human Walking by Biped Humanoid Robot with Heel-Contact and Toe-Off Motion
Hideki Kondo*, Yu Ogura*, Kazushi Shimomura*,
Shimpei Momoki*, Tatsu Okubo*, Hun-Ok Lim**,
and Atsuo Takanishi***
*Graduate School of Advanced Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan
**Department of Mechanical Engineering, Kanagawa University, 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama 221-8686, Japan
***Department of Modern Mechanical Engineering, Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japan
The foot mechanism and pattern generation we propose for a biped humanoid robot achieves human-like heel-contact toe-off walking. Placing its heel and toes simultaneously on the ground while walking makes it difficult for a robot to take long strides and mimic human gaits. To solve this problem, we developed a biped foot with one passive toe joint based on human gaits analyzed by motion capture and propose pattern generation for human-like walking based on the zero moment point (ZMP) criterion. Using a genetic algorithm, we optimize walking parameters to generate continuous, smooth foot trajectories. Results of experiments in heel-contact toe-off walking in ground reaction force (GRF) using the biped humanoid robot WABIAN-2 demonstrated the similarity between proposed and human walking.
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