2P1-B20 Design of foot shape for quasi passive dynamic walking biped robot

Kazuyuki Hyodo; Sadayoshi Mikami; S. Suzuki

doi:10.1299/jsmermd.2006._2p1-b20_1

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2P1-B20 Design of foot shape for quasi passive dynamic walking biped robot

Kazuyuki Hyodo Sadayoshi Mikami S. Suzuki

Year: 2006 Journal: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol: 2006 (0)Pages: _2P1-B20_1 Publisher: Japan Society Mechanical Engineers

DOI: 10.1299/jsmermd.2006._2p1-b20_1

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Abstract

We propose a new foot shape applying to a biped robot to realize the stability of the passive dynamic walk. The shape is aiming at requiring minimum actuator power which drives inclination of foot. It is analyzed and experimented by the experimental mechanism. We report the result of the foot design with passive dynamic walk, and show the possibility of introducing learning onto this configuration.

Keywords:

Biped robot Mechanism (biology) Actuator Foot (prosody) Robot Control theory (sociology) Computer science Stability (learning theory) Simulation Artificial intelligence Physics Control (management)

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Robotic Locomotion and Control

Physical Sciences → Engineering → Biomedical Engineering

Educational Robotics and Engineering

Physical Sciences → Computer Science → Artificial Intelligence

2P1-B20 Design of foot shape for quasi passive dynamic walking biped robot

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