Print Email Facebook Twitter Energy-Optimized Toed Walking on Flexible Soles for Humanoids Title Energy-Optimized Toed Walking on Flexible Soles for Humanoids Author van der Planken, Jonathan (TU Delft Mechanical, Maritime and Materials Engineering) Contributor Vallery, Heike (mentor) Degree granting institution Delft University of Technology Date 2017-10-10 Abstract In this research the role of thick flexible soles in energy-efficient humanoid walking is analyzed. It ishypothesized that, the addition of underactuated degrees of freedom under the foot gives the robotthe potential to execute a pseudo-passive walking motion 1, which yields a decrease in ankle torqueand energy expenditure. Furthermore it is hypothesized that, if these principles are applied to toedgait walking patterns, instead of flat foot walking patterns the decreases will be larger in magnitude.To isolate the effects of adding a sole, a toe joint and both at the same time, four walking types arecompared in simulation; flat foot and toed gait walking, both with and without sole. To asses the caseswithout sole, energy-optimized walking pattern generation is used. For walking on soles, the optimizedwalking patterns are used as input for a deformation estimator that calculates the sole compression.Simulation results show that the rolling motion of the sole reduces the ankle torque and the energyconsumption. The results prove that the reduction effects are especially large for toed gait walking,thereby validating both the hypotheses. Subject flexibleSoleEnergyoptimizationgaitgenerationhumanoiddeformationestimationHRP-4pseudo-passivepassivewalking To reference this document use: http://resolver.tudelft.nl/uuid:6bc3aacf-a97b-44bc-82f9-e7fc542852ad Part of collection Student theses Document type master thesis Rights © 2017 Jonathan van der Planken Files PDF Thesis_JonathanvanderPlan ... ERSION.pdf 9.95 MB Close viewer /islandora/object/uuid%3A6bc3aacf-a97b-44bc-82f9-e7fc542852ad/datastream/OBJ/view