Proper Posture of Redundant Legged Biped Robot for Impact Force Suppression

Abstract

The paper describes proper initial posture of the swinging leg of a redundant legged biped robot for impact force suppression in landing onto the ground. The proposed robot has structural advantage for absorbing the impact because of its own redundancy of posture, and then, the proper posture of the landing leg contributes the further suppression. The validity of the proposed approach is confirmed in physical experimental results.