1P1-B15 Assist Controller of Passive Dynamic Biped Robot Using Constraining Effect Foot Shape

Abstract

This paper proposes a foot shape design to enhance stability of passive dynamic walk, which constrains fall down phenomenon. We describe the possibility of introducing an energy-efficient controller onto this configuration, which controls the constraining effect by changing ankle angle. We propose a constrains foot shape applying to a biped robot to realize the stability of the passive dynamic walk.