Bulletin of JSME
Online ISSN : 1881-1426
Print ISSN : 0021-3764
Synthesis of Leg-Mechanisms of Biped Walking Machines : Part I, Synthesis of Ankle-Path-Generator
Hiroaki FUNABASHIKiyoshi OGAWAYasuo GOTOHFumio KOJIMA
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1985 Volume 28 Issue 237 Pages 537-543

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Abstract

The present paper and the companion paper describe kinematic syntheses of planar link mechanisms with only revolute pairs to develop leg-mechanisms of biped machines which walk straight on flat grounds. It has been proposed to divide the leg-mechanism into two sub-mechanisms in order to make a kinematic synthesis possible ; one is an ankle-path-generator which generates a required trajectory of the ankle relative to the upper body, and the other is a foot-driving mechanism which generates a require angular motion of the foot about the ankle joint. The 1st paper discusses type selections of the ankle-path-generator, conditions and procedures of dimensional syntheses and the characteristics of the synthesized mechanisms, resulting in three practical ankle-path-generators.

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© The Japan Society of Mechanical Engineers
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