Development of a running humanoid robot incorporating mechanical characteristics of human ankle: toward disorder risk reduction of elderly populations


Takuya Otani, Kenji Hashimoto,
Yasuo Kawakami, ○Atsuo Takanishi

 In recent years, the person performing running for the purpose of maintenance and promotion of health has increased from the young to the elderly. However, the injury rate of running failure has been reported to be 37-56% per a year. Human motion analysis and simulation are often carried out for clarifying the cause of the failure. In the motion analysis there are ethical and safety problems, and in the simulation the demonstration is difficult because of the difficulty to simulate the complex environment. In this study, in order to reduce the injury risk, we aim to mimic the human running using a biped humanoid robot, and verify the suitable running form in relation to the foot-ankle which is a large part of the failure cases.

At first, we perform a human motion analysis and model the running movement. Then, we develop a running humanoid robot implemented elastic bodies for high power output. Using this, we elucidate the risk factor of running and the existing theory by measuring joints’ load.

Fig. 1 Biped humanoid robot

So far, we performed the human motion analysis for the behavior of the ankle joint during running. As with previous studies, it was seen high elasticity in pitch axis which may contribute to the exertion of high output. In addition, due to the very low exert torque at the landing in roll axis, it is considered to achieve passive landing. In the future, we will develop the humanoid robot based on these characteristics and verify the running.