Effects of unilateral restriction of the metatarsophalangeal joints on biped robot walking

Yixiang Liu, Xizhe Zang*, Niansong Zhang, Yubin Liu, Ming Wu

*Corresponding author for this work

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

2 Scopus citations

Abstract

The metatarsophalangeal (MTP) joints play critical roles in the push-off phase of human locomotion, but are usually absent in biped robots. Our previous research found that when the unilateral MTP joints were restricted, non-disabled subjects exerted a compensatory mechanism, that is, the intact limb was relied more than the restricted limb. This paper aims to study the effects of unilateral restrictions of the MTP joints on biped robot walking. Gait performance of a biped robot model was analyzed under two conditions, i.e., walking normally, and walking with the MTP joints of the right foot restricted. The results show that unilateral restrictions of the MTP joints lead to larger demands for driving torque and power on partial joints, more total energy consumption, and lower energy efficiency. These results can help understand the functions of the MTP joints in more depth, and offer some inspirations to the researches of biped robots.

Original languageEnglish (US)
Title of host publication8th International Conference on Information Science and Technology, ICIST 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages395-400
Number of pages6
ISBN (Print)9781538637814
DOIs
StatePublished - Aug 6 2018
Event8th International Conference on Information Science and Technology, ICIST 2018 - Cordoba, Granada, and Seville, Spain
Duration: Jun 30 2018Jul 6 2018

Publication series

Name8th International Conference on Information Science and Technology, ICIST 2018

Other

Other8th International Conference on Information Science and Technology, ICIST 2018
CountrySpain
CityCordoba, Granada, and Seville
Period6/30/187/6/18

Keywords

  • biped robots
  • bipedal walking
  • gait analysis metatarsophalangeal joint
  • joint kinetics

ASJC Scopus subject areas

  • Control and Optimization
  • Information Systems
  • Information Systems and Management

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