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
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