Human-Like Walking using Toes Joint and Straight Stance Leg

• Author: Sven Behnke
  


• In Proceedings of 3rd International Symposium on Adaptive Motion in Animals and Machines, Ilmenau, September 2005.
  
  
• Abstract:
  This paper describes the use of an actuated toes joint in a humanoid robot to achieve human-like bipedal walking. The robot does not shorten the stance leg, but uses the segment between the ankle joint and the toes joint to over-extend the unloading leg in the double-support phase. Experiments with the servo-based humanoid robot Toni show that this approach leads to low energy-consumption in the knees and allows walking dynamically with large steps.
  

• Full paper: AMAM05_Behnke.pdf