دورية أكاديمية
The Effect of Foot Structure on Locomotion of a Small Biped Robot
| العنوان: | The Effect of Foot Structure on Locomotion of a Small Biped Robot |
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| المؤلفون: | Nguyen Tinh, Tao Linh, Hasegawa Hiroshi |
| المصدر: | MATEC Web of Conferences, Vol 95, p 08010 (2017) |
| بيانات النشر: | EDP Sciences, 2017. |
| سنة النشر: | 2017 |
| المجموعة: | LCC:Engineering (General). Civil engineering (General) |
| مصطلحات موضوعية: | Engineering (General). Civil engineering (General), TA1-2040 |
| الوصف: | This paper is a presentation of a work that consists of considering a novel foot structure for biped robot inspired by human foot. The specific objective is to develop a foot mechanism with human-like toes for a small biped robot. The chosen architecture to present the biped includes ten degrees of freedom (DoF) on ten articulations between eleven links. Our study considers the effect of varying foot structure on a walking process of the robot in simulation by ADAMS (MSC software, USA) through gait generation method. In toe mechanism, aiming to reduce the energy consumption, the passive joint was selected as the toe joint. The center of gravity (CoG) point trajectories of the robot with varying toe is compared with each other in normal motion on flat terrain to determine the most consistent toe mechanism. The result shows that the selected foot structure enables the robot to walk stably and naturally. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English French |
| تدمد: | 2261-236X |
| Relation: | https://doaj.org/toc/2261-236X |
| DOI: | 10.1051/matecconf/20179508010 |
| URL الوصول: | https://doaj.org/article/0a9a11d3d90a42d496e18008abee1b46 |
| رقم الأكسشن: | edsdoj.0a9a11d3d90a42d496e18008abee1b46 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 2261236X |
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| DOI: | 10.1051/matecconf/20179508010 |