Heel-strike and toe-off (heel-toe) walking has been studied to increase step length, reduce
the torque of the leg joints, or make robots walk similarly to humans. To realize heel-toe …

This paper investigates the locomotion of bipedal robots, with a focus on knee-extended
walking. While knee joint extension is essential for efficient human walking, humanoid …

A planning algorithm that can generate continuous-time walking patterns including the
seamless transition between flat-contact and heel-to-toe walking gaits is proposed. The …

For humans, fast, efficient walking over flat ground represents the vast majority of locomotion
that an individual experiences on a daily basis, and for an effective, real-world humanoid …

In order to make the gait of a bipedal robot more human-like and to further improve the
efficiency of energy utilisation, this paper combines preview control strategy and a knee …

ABSTRACT this study, a bio-inspired design was introduced to fabricate an inexpensive
robotic prosthetic foot. Toe joints and torsion springs improve gait stability and propulsion …

Knee-stretched walking is desirable for biped robot because it is a characteristic of human
walking as well as lower energy consumption. In this paper, we proposed a new knee …