Human-oriented biped robot design: Insights into the development of a truly anthropomorphic leg

Giuseppina Gini, Umberto Scarfogliero, Michele Folgheraiter

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Citations (Scopus)

Abstract

In this paper we present a human-oriented approach to the study of the biped gait for a humanoid robot. Starting from the analysis of the human lower-limbs, we figured out which features of the human legs are fundamental for a correct walking motion and can be adopted in the mechanical design of a humanoid robot. In particular we focus here on the knee, designed as a compliant human-like knee instead of a classical pin-joint. For the foot we tried to reproduce in a simple mechanical device the mobility and lightness of the human foot, which is very different from a flat surface and has a big impact on walking. We complete the presentation with considerations about the energy consumption of our humanoid design. In our approach the robot gains in adaptability and energetic efficiency, which are the most challenging issues for a biped robot.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages2910-2915
Number of pages6
DOIs
Publication statusPublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Gini, G., Scarfogliero, U., & Folgheraiter, M. (2007). Human-oriented biped robot design: Insights into the development of a truly anthropomorphic leg. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 2910-2915). [4209531] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.363913