Foot angle determination for efficient heel-toe walking

摘要

Heel-toe walking can increase the stride length within the same joint limit of the robot. This paper proposes a method to compute the foot angle for heel-toe walking. In heel-toe walking, the value of the foot angle influences the movement of the legs, so it is proposed to select the foot angle to minimize the movement of the legs. The changes in stride and movement of leg with or without the heel-toe walking using the proposed foot angle is analyzed. The proposed approach is demonstrated through experiments.