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

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Ramzi Sellaouti, Olivier Stasse, Shuuji Kajita, Kazuhito Yokoi, Abderrahmane Kheddar
• Keywords: Biped Robots, IROS 2006, Robotics, Step Length Thanks, Toe Joint