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IROS
2006
IEEE

Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints

9 years 5 months ago
Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints
- This paper addresses the role of toe joints in increasing the walking speed of biped robots. It is worthy that adding a toe joint will increase the step length thanks to the additional degree of freedom. But, the originality of this work is that longer steps are obtained thanks to an under-actuated phase and an appropriate ZMP trajectory. The simulations showed that
Ramzi Sellaouti, Olivier Stasse, Shuuji Kajita, Ka
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Ramzi Sellaouti, Olivier Stasse, Shuuji Kajita, Kazuhito Yokoi, Abderrahmane Kheddar
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