Effects of toe-off and heel-off motions on gait performance of biped robots
作者： Mahdokht Ezati , Majid Khadiv , S. Ali A. Moosavian
DOI: 10.1109/ICROM.2015.7367592
关键词:
摘要: In this paper, it is highly proposed to take into account of both heels and active toe joints during the walking a biped robot with 7-DOF legs. The main goal research examine significance exploiting on reducing maximum knee joint torque as well total energy consumption. To end, six different patterns are presented, while purpose minimizing torques simplest pattern, each step consists one single-support phase double-support phase, considering flat sole in phases. most complex two subphases also phase. These created using toes. Consequently, effective pattern terms consumption specified.
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