Dynamic walk of a bipedal robot having flexible feet

The objective of the work is to evaluate the contribution of flexibilities in the feet of a bipedal robot during a dynamic walk. The two major effects are the diminution of the intensity of the normal force when the heel touches the ground and the increase of the phase of double support allowing a b...

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Bibliographic Details
Published in2001 IEEE/RSJ International Conference on Intelligent Robots and Systems Vol. 1; pp. 512 - 517 vol.1
Main Authors Bruneau, O., Ouezdou, F.B., Fontaine, J.-G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2001
Subjects
Anthropometry
Foot
Humans
Laboratories
Leg
Legged locomotion
Power supplies
Robot vision systems
Stability
Testing
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ISBN0780366123
9780780366121
DOI10.1109/IROS.2001.973408

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Summary:The objective of the work is to evaluate the contribution of flexibilities in the feet of a bipedal robot during a dynamic walk. The two major effects are the diminution of the intensity of the normal force when the heel touches the ground and the increase of the phase of double support allowing a better stability of the system. Another notable effect is the analogy between the passive flexion amplitude of the tiptoes and the measured results of human subjects.
ISBN:0780366123
9780780366121
DOI:10.1109/IROS.2001.973408