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Title: Extended-knee walk for humanoid robot with parallel link legs
Authors: Sakamoto, H.
Katayose, H.
Miyazaki, K.
Nakatsu, R. 
Keywords: Extended-knee walk
Humanoid robot
Issue Date: Dec-2009
Source: Sakamoto, H., Katayose, H., Miyazaki, K., Nakatsu, R. (2009-12). Extended-knee walk for humanoid robot with parallel link legs. International Journal of Humanoid Robotics 6 (4) : 565-584. ScholarBank@NUS Repository.
Abstract: This paper proposes a method of giving humanoid robots a natural humanlike walk, which we call the extended-knee walk. Unlike the bent-knee walk of most humanoid robots to date, this walk includes a period in which the knee is fully extended. A parallel mechanism is used in the legs and a method of calculating the walk trajectory copes with the difficulty of the singularity in achieving a humanlike walk. The advantages of this walk were verified from two aspects: good visual appearance and good energy efficiency. An experiment comparing the trajectories of the knee angle during walking showed that the walking style produced by the proposed method is more humanlike than the usual walking style of other humanoid robots. The energy efficiency was verified through power consumption and motor temperature measurements and the possibilities for practical use of this method are discussed with reference to the results of the worldwide soccer competition RoboCup 2008. © 2009 World Scientific Publishing Company.
Source Title: International Journal of Humanoid Robotics
ISSN: 02198436
DOI: 10.1142/S0219843609001917
Appears in Collections:Staff Publications

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