Journal of Vibration and Control

 

Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Click here to register and gain free access

Click here for more information

Sign In to gain access to subscriptions and/or personal tools.
This Article
Right arrow Free Full Text (Free PDF) Free
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in ISI Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Google Scholar
Google Scholar
Right arrow Articles by Bruneau, O.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati  
What's this?
Journal of Vibration and Control, Vol. 12, No. 12, 1457-1482 (2006)
DOI: 10.1177/1077546306070613
© 2006 SAGE Publications

An Approach to the Design of Walking Humanoid Robots with Different Leg Mechanisms or Flexible Feet and Using Dynamic Gaits

Olivier Bruneau

Vision and Robotics Laboratory, University of Orleans, Ecole Nationale Superieure d’Ingenieurs de Bourges (ENSIB), 10 bvd Lahitolle 18020 Bourges Cedex, France, olivier.bruneau{at}ensi-bourges.fr

This article describes a method for designing humanoid robots and generating their dynamic gaits. Firstly, the global design process which defines structures able to carry out dynamic locomotion tasks is explained. Secondly, a set of leg and foot mechanisms are described to perform these tasks. A method of producing intrinsic smooth motions for fast walking gaits of bipedal robots with different leg mechanisms or flexible feet is then explained. Finally, some simulation results are given, showing a wide variety of possibilities for dynamic gait generation. The contribution of flexibilities in the feet of a bipedal robot during a dynamic walk can be observed. The two major effects are a diminution of the intensity of normal force when the heel touches the ground and increased length of the double support phase, allowing better stability of the system. Another notable effect is the analogy between the passive flexion amplitude of the toe tips and the measured results of human subjects.

Key Words: Biped humanoid robots • design process • leg mechanisms • foot flexibilities • fast dynamic gait generation


Add to CiteULike CiteULike   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati    What's this?