著者

佐藤 貴彦 新明 脩平 仲里 三希 見上 慧 佐藤 智矢 境野 翔 大西 公平

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.131, no.3, pp.283-290, 2011-03-01 (Released:2011-03-01)

参考文献数

19

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This paper proposes a knee stretch walking method for biped robots; the method involves the use of the toes and heel joints to increase walking strides. A knee can be stretched by switching control variables. By a knee stretch walking with heel contacts to the ground and toe takeoffs from the ground, biped robots can increase their walking stride and speed. The validity of the proposed method is confirmed by simulation and experimental results.