Effects of toe-off and heel-off motions on gait performance of biped robots

Mahdokht Ezati; Majid Khadiv; S. Ali A. Moosavian

doi:10.1109/ICRoM.2015.7367592

Effects of toe-off and heel-off motions on gait performance of biped robots

Mahdokht Ezati
, Majid Khadiv
, S. Ali A. Moosavian

K.N. Toosi University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

In this paper, it is highly proposed to take into account of both heels and active toe joints during the walking of a biped robot with 7-DOF legs. The main goal of this research is to examine significance of exploiting heels and active toe joints on reducing the maximum knee joint torque as well as the total energy consumption. To this end, six different walking patterns are presented, while the main purpose is minimizing the maximum knee joint torques and the total energy consumption. In the simplest pattern, each step consists of one single-support phase and one double-support phase, considering flat sole in both phases. In the most complex pattern, each step consists of two subphases during the single-support phase and also two subphases during the double-support phase. These subphases are created using heels and active toes. Consequently, the most effective pattern in terms of the maximum torque of knee joint and the total energy consumption is specified.

Original language	English
Title of host publication	International Conference on Robotics and Mechatronics, ICROM 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7-12
Number of pages	6
ISBN (Electronic)	9781467372343
DOIs	https://doi.org/10.1109/ICRoM.2015.7367592
State	Published - 28 Dec 2015
Externally published	Yes
Event	3rd RSI/ISM International Conference on Robotics and Mechatronics, ICROM 2015 - Tehran, Iran, Islamic Republic of Duration: 7 Oct 2015 → 9 Oct 2015

Publication series

Name	International Conference on Robotics and Mechatronics, ICROM 2015

Conference

Conference	3rd RSI/ISM International Conference on Robotics and Mechatronics, ICROM 2015
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	7/10/15 → 9/10/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

active toe joints
biped robot
heels
optimal walking pattern

Access to Document

10.1109/ICRoM.2015.7367592

Cite this

Ezati, M., Khadiv, M., & Moosavian, S. A. A. (2015). Effects of toe-off and heel-off motions on gait performance of biped robots. In International Conference on Robotics and Mechatronics, ICROM 2015 (pp. 7-12). Article 7367592 (International Conference on Robotics and Mechatronics, ICROM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM.2015.7367592

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title = "Effects of toe-off and heel-off motions on gait performance of biped robots",

abstract = "In this paper, it is highly proposed to take into account of both heels and active toe joints during the walking of a biped robot with 7-DOF legs. The main goal of this research is to examine significance of exploiting heels and active toe joints on reducing the maximum knee joint torque as well as the total energy consumption. To this end, six different walking patterns are presented, while the main purpose is minimizing the maximum knee joint torques and the total energy consumption. In the simplest pattern, each step consists of one single-support phase and one double-support phase, considering flat sole in both phases. In the most complex pattern, each step consists of two subphases during the single-support phase and also two subphases during the double-support phase. These subphases are created using heels and active toes. Consequently, the most effective pattern in terms of the maximum torque of knee joint and the total energy consumption is specified.",

keywords = "active toe joints, biped robot, heels, optimal walking pattern",

author = "Mahdokht Ezati and Majid Khadiv and Moosavian, \{S. Ali A.\}",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 3rd RSI/ISM International Conference on Robotics and Mechatronics, ICROM 2015 ; Conference date: 07-10-2015 Through 09-10-2015",

year = "2015",

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series = "International Conference on Robotics and Mechatronics, ICROM 2015",

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Ezati, M, Khadiv, M & Moosavian, SAA 2015, Effects of toe-off and heel-off motions on gait performance of biped robots. in International Conference on Robotics and Mechatronics, ICROM 2015., 7367592, International Conference on Robotics and Mechatronics, ICROM 2015, Institute of Electrical and Electronics Engineers Inc., pp. 7-12, 3rd RSI/ISM International Conference on Robotics and Mechatronics, ICROM 2015, Tehran, Iran, Islamic Republic of, 7/10/15. https://doi.org/10.1109/ICRoM.2015.7367592

Effects of toe-off and heel-off motions on gait performance of biped robots. / Ezati, Mahdokht; Khadiv, Majid; Moosavian, S. Ali A.
International Conference on Robotics and Mechatronics, ICROM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 7-12 7367592 (International Conference on Robotics and Mechatronics, ICROM 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Effects of toe-off and heel-off motions on gait performance of biped robots

AU - Ezati, Mahdokht

AU - Khadiv, Majid

AU - Moosavian, S. Ali A.

PY - 2015/12/28

Y1 - 2015/12/28

N2 - In this paper, it is highly proposed to take into account of both heels and active toe joints during the walking of a biped robot with 7-DOF legs. The main goal of this research is to examine significance of exploiting heels and active toe joints on reducing the maximum knee joint torque as well as the total energy consumption. To this end, six different walking patterns are presented, while the main purpose is minimizing the maximum knee joint torques and the total energy consumption. In the simplest pattern, each step consists of one single-support phase and one double-support phase, considering flat sole in both phases. In the most complex pattern, each step consists of two subphases during the single-support phase and also two subphases during the double-support phase. These subphases are created using heels and active toes. Consequently, the most effective pattern in terms of the maximum torque of knee joint and the total energy consumption is specified.

AB - In this paper, it is highly proposed to take into account of both heels and active toe joints during the walking of a biped robot with 7-DOF legs. The main goal of this research is to examine significance of exploiting heels and active toe joints on reducing the maximum knee joint torque as well as the total energy consumption. To this end, six different walking patterns are presented, while the main purpose is minimizing the maximum knee joint torques and the total energy consumption. In the simplest pattern, each step consists of one single-support phase and one double-support phase, considering flat sole in both phases. In the most complex pattern, each step consists of two subphases during the single-support phase and also two subphases during the double-support phase. These subphases are created using heels and active toes. Consequently, the most effective pattern in terms of the maximum torque of knee joint and the total energy consumption is specified.

KW - active toe joints

KW - biped robot

KW - heels

KW - optimal walking pattern

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U2 - 10.1109/ICRoM.2015.7367592

DO - 10.1109/ICRoM.2015.7367592

M3 - Conference contribution

AN - SCOPUS:84962440424

T3 - International Conference on Robotics and Mechatronics, ICROM 2015

SP - 7

EP - 12

BT - International Conference on Robotics and Mechatronics, ICROM 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 3rd RSI/ISM International Conference on Robotics and Mechatronics, ICROM 2015

Y2 - 7 October 2015 through 9 October 2015

ER -

Effects of toe-off and heel-off motions on gait performance of biped robots

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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Cite this